CAJ | 학술논문

为了描述一类特殊的刚性图,给出最优刚性图的概念。在保持队形时,最优刚性图可以减少拓扑图的复杂性。为了最大可能地减少队形通信的复杂性,研究了最优刚性编队的生成理论。首先,提出了4个命题,用以论证基于分布式的最优刚性生成方算法的可行性;其次,基于这些命题,提出了一种多智能体系统的编队算法;最后,通过仿真来验证所提算法的有效性。
위료묘술일류특수적강성도,급출최우강성도적개념。재보지대형시,최우강성도가이감소탁복도적복잡성。위료최대가능지감소대형통신적복잡성,연구료최우강성편대적생성이론。수선,제출료4개명제,용이론증기우분포식적최우강성생성방산법적가행성;기차,기우저사명제,제출료일충다지능체계통적편대산법;최후,통과방진래험증소제산법적유효성。
The notion of optimally rigid graph is defined in this paper to describe a special kind of rigid graphs. The optimally rigid graphs can be used to reduce the complexity of topology graphs in keeping the formation. In this paper, in order to minimize the communication complexity of formations, the authors study the generation theory of optimally rigid formations. Firstly, four important propositions are presented to demonstrate the feasibility of using decentralized method to generate optimally rigid graphs. Secondly, in view of these propositions, a formation algorithm for Multi-Agent System （MAS） is proposed. Lastly, some simulations are given to show the efficiency of the proposed algorithm.