多运动体分布式最优编队构型形成算法

针对分布式通信条件下的多运动体编队构型形成问题进行研究.考虑到个体的有限通信与感知能力,传统集中式求解算法无法适应实际需求,提出一种基于分布式交替映射凸优化的分布式时间最优编队构型形成算法,使得个体间仅依赖局部通信与局部计算实现编队构型的快速形成;将该问题建模为含有等式约束的分布式Minimax凸优化问题,提出基于虚拟等式约束函数的分布式交替映射凸优化算法实现求解;根据求解结果,各运动体采用RVO避障策略实现最优构型形成.针对含有100个运动体的最优编队构型形成问题进行仿真,验证了所提出算法的有效性.

Distributed optimal formation shaping algorithm for multi-agent

In this paper, we study the multi-agent distributed time-optimal formation shaping problem by proposing the time-optimal formation shaping distributed algorithm based on distributed convex alternating projection method, in which each individual only has limited communication range and sensing ability, where centralized algorithms failed. In the proposed algorithm, we model the problem as a equality-constraint distributed minimax convex optimization, which is further solved by proposing a novel virtual-equality-constraint based alternating projection method. According to the optimization results, multi-agent can achieve optimal shaping with the RVO avoidance strategy. Finally, the simulation of 100 multi-agent optimal formation is demonstrated to verify the efficiency of the proposed algorithm.