CN110456792A - The navigation of multiple agent group's system and barrier-avoiding method and device under dynamic environment - Google Patents
The navigation of multiple agent group's system and barrier-avoiding method and device under dynamic environment Download PDFInfo
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Abstract
The invention discloses multiple agent group's systems under a kind of dynamic environment to navigate and barrier-avoiding method and device, wherein method includes: to carry out path planning according to global map, generates global path；Obtain each intelligent body of multiple agent group system and the convex set of next road sign point；According to the global path using the convex set as path navigation to next road sign point.According to the method for the embodiment of the present invention, it can be navigated by changing agent swarm system of the formation in all kinds of dynamic disorder substance environments in real time, the function of avoidance, evade that traditional group's system air navigation aid application scenarios such as Artificial Potential Field Method are simple, algorithm robustness is poor, is easily trapped into the disadvantages of deadlock, multiple agents group's systematic difference occasion such as multiple no-manned plane, unmanned vehicle cluster will be expanded significantly, provide robust and efficient systems approach for its navigation application under complex application context.
Description
Technical field
The present invention relates to intelligent body field of navigation technology, in particular to multiple agent group's system under a kind of dynamic environment is led
Boat and barrier-avoiding method and device.
Background technique
With the fast development of computer vision, artificial intelligence and control technology, with unmanned plane, unmanned vehicle etc. for representative
Intelligent body gradually play huge effect in terms of the development of the national economy and national security guarantee.And multiple intelligent bodies cooperate with work
It can effectively improve intelligent body operating radius, increase operation type, and then widen application scenarios significantly, complete many single intelligence
It can the impossible work of body.But when rising due to intelligent body quantity, system data volume to be treated by rapid growth,
Simultaneously there is still a need for allowing the normal operation in respective positions of each intelligent body, and realize the necessary functions such as avoidance, collision prevention, therefore permitted
The control strategy of multipair single intelligent body not can be used directly in the group's system for controlling multiple intelligent body compositions.
In the related technology, there are relevant discussion and the research of the problems such as some pairs of intelligent group's systems form into columns, navigate.So
And it is existing fairly simple to the navigation of agent swarm system, most of research application scenarios of avoidance problem, under complex environment
It is difficult to apply, and that there is convergence rates is slow, is easily trapped into the problems such as deadlock.How limited calculating on each intelligent body is utilized
Resource constructs the agent swarm that can be worked normally in the case where there is the complex environment of a certain number of stationary obstructions and dynamic barrier
System is academia and problem in science and engineering roadblock that industry is paid special attention to.The breakthrough of core key technology will be very big
Application model of the agent swarm system under Complex Natural Environment, under complex application context is expanded, the possibility of completion task is improved
Property and efficiency.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, an object of the present invention is to provide the navigation of multiple agent group's system and avoidance under a kind of dynamic environment
Method, this method can by change in real time formation in all kinds of dynamic disorder substance environments agent swarm system navigation, avoidance
Function.
It is another object of the present invention to a kind of multiple agent group's system proposed under dynamic environment navigation to fill with avoidance
It sets.
In order to achieve the above objectives, one aspect of the present invention embodiment proposes multiple agent group's system under a kind of dynamic environment
Navigation and barrier-avoiding method, comprising the following steps: path planning is carried out according to global map, generates global path；It how intelligent obtains
Each intelligent body of body group's system and the convex set of next road sign point；According to the global path using the convex set as path navigation extremely
Next road sign point.
Under the dynamic environment of the embodiment of the present invention multiple agent group's system navigation and barrier-avoiding method, according to global map into
Row path planning calculates the larger convex set comprising current each intelligent body and next road sign point, to be path navigation under using convex set
Punctuate all the way, realize by change in real time formation in all kinds of dynamic disorder substance environments agent swarm system navigation, avoidance
Function, evaded that traditional group's system air navigation aid application scenarios such as Artificial Potential Field Method are simple, algorithm robustness is poor, is easily trapped into
The disadvantages of deadlock, will expand multiple agents group's systematic difference occasion such as multiple no-manned plane, unmanned vehicle cluster significantly, be it in complexity
Navigation application under application scenarios provides robust and efficient systems approach.
In addition, the navigation of multiple agent group's system and barrier-avoiding method under dynamic environment according to the above embodiment of the present invention are also
It can have following additional technical characteristic:
Further, in one embodiment of the invention, described that path planning is carried out according to global map, comprising: to obtain
Global map and associated static obstacle information, dynamic barrier information are taken, and takes and is carried out similar to random road sign figure method
Global path planning, wherein each road sign point indicates agent swarm system in the formation state of corresponding road sign point, and it includes intelligence
The formation information of body group's system centre and the related coefficient of formation similarity transformation, and the side between the adjacent road sign point of every two then corresponds to
Its two vertex connected and a convex set.
Further, in one embodiment of the invention, it is described obtain multiple agent group system each intelligent body and
The convex set of next road sign point, comprising: using the convex closure that preset is formed as the original state of convex polyhedron, in each iteration,
By solving convex optimization problem, solution obtains the separation plane between the convex polyhedron and barrier set to expand convex polyhedron
Volume, and the inscribe ellipsoid of new convex polyhedron is solved, until meeting the convex set of preset condition, the multiple of its boundary can be used
Plane indicates.
It optionally, in one embodiment of the invention, is that its is adjacent from the corresponding formation state transformation of a road sign point
The corresponding formation state of road sign point, wherein the calculation formula of the formation state are as follows:
Wherein, wsAnd wqFor associated weight, clFor the preset constant weight of each formation, t, s, q is formation similarity transformation
Related coefficient, f is preset formation sum, and r is the bottom surface radius of the model of intelligent body, and a height of 2h.
In addition, in one embodiment of the invention, further includes: become solving from the corresponding formation state of a road sign point
When being changed to the associated control parameters of the corresponding formation state of its adjacent road sign point, if working as pre-group system intelligent body and vertex sequence
In next vertex correspondence formation center composition convex closure in include dynamic barrier, then with group's system under the current state
Initial value of the line at the formation center of next vertex correspondence as ellipsoid and convex polyhedron in center and sequence, described in solution
The algorithm of convex set gradually expands ellipsoid and convex polyhedron, obtains one comprising when next vertex in pre-group system centre and sequence
The new convex set at corresponding formation center, and under being called in subsequent real time control algorithms approximating sequence using the new convex set as path
One vertex；After optimization failure, then group's system temporarily ceases action, and when the accumulative time that breaks off an action is beyond preset threshold
When, the barrier that will affect optimization, which temporarily marks, is, and re-starts global path planning.
In order to achieve the above objectives, another aspect of the present invention embodiment proposes the multiple agent group system under a kind of dynamic environment
System navigation and obstacle avoidance apparatus, comprising: planning module generates global path for carrying out path planning according to global map；It obtains
Module, for obtaining each intelligent body of multiple agent group's system and the convex set of next road sign point；Navigation and obstacle avoidance module, are used for
According to the global path using the convex set as path navigation to next road sign point.
Under the dynamic environment of the embodiment of the present invention multiple agent group's system navigation and obstacle avoidance apparatus, according to global map into
Row path planning calculates the larger convex set comprising current each intelligent body and next road sign point, to be path navigation under using convex set
Punctuate all the way, realize by change in real time formation in all kinds of dynamic disorder substance environments agent swarm system navigation, avoidance
Function, evaded that traditional group's system air navigation aid application scenarios such as Artificial Potential Field Method are simple, algorithm robustness is poor, is easily trapped into
The disadvantages of deadlock, will expand multiple agents group's systematic difference occasion such as multiple no-manned plane, unmanned vehicle cluster significantly, be it in complexity
Navigation application under application scenarios provides robust and efficient systems approach.
In addition, the navigation of multiple agent group's system and obstacle avoidance apparatus under dynamic environment according to the above embodiment of the present invention are also
It can have following additional technical characteristic:
Further, in one embodiment of the invention, the planning module includes: acquiring unit, complete for obtaining
Local figure and associated static obstacle information, dynamic barrier information, and take and carry out the overall situation similar to random road sign figure method
Path planning, wherein each road sign point indicates agent swarm system in the formation state of corresponding road sign point, and it includes agent swarms
The formation information of system centre and the related coefficient of formation similarity transformation, and the side between the adjacent road sign point of every two then corresponds to its company
Two vertex connect and a convex set.
Further, in one embodiment of the invention, the acquisition module includes: solution unit, for default
Original state of the convex closure that point is formed as convex polyhedron, in each iteration, by solving convex optimization problem, solution obtains institute
The separation plane between convex polyhedron and barrier set is stated to expand convex polyhedron volume, and the inscribe for solving new convex polyhedron is ellipse
Ball can be used multiple planes on its boundary to indicate until meeting the convex set of preset condition.
It optionally, in one embodiment of the invention, is that its is adjacent from the corresponding formation state transformation of a road sign point
The corresponding formation state of road sign point, wherein the calculation formula of the formation state are as follows:
Wherein, wsAnd wqFor associated weight, clFor the preset constant weight of each formation, t, s, q is formation similarity transformation
Related coefficient, f is preset formation sum, and r is the bottom surface radius of the model of intelligent body, and a height of 2h.
In addition, in one embodiment of the invention, further includes: optimization module, for solving from a road sign point pair
When the formation state transformation answered is the associated control parameters of the corresponding formation state of its adjacent road sign point, if working as pre-group system intelligence
Then worked as in energy body and vertex sequence in the convex closure of the center composition of next vertex correspondence formation comprising dynamic barrier with described
Under preceding state in group's system centre and sequence the line at the formation center of next vertex correspondence as ellipsoid and convex polyhedron
Initial value, the algorithm for solving the convex set gradually expand ellipsoid and convex polyhedron, obtain one comprising when pre-group system centre and
The new convex set at the formation center of next vertex correspondence in sequence, and subsequent real-time control is called by path of the new convex set
Next vertex in algorithm approximating sequence；Control module, for after optimization failure, then group's system to temporarily cease action, and works as
When the accumulative time that breaks off an action is beyond preset threshold, the barrier that will affect optimization, which temporarily marks, is, and again
Carry out global path planning.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the process according to multiple agent group's system navigation and barrier-avoiding method under the dynamic environment of the embodiment of the present invention
Figure；
Fig. 2 is the flow chart according to algorithm in each time cycle τ of one embodiment of the invention；
Fig. 3 is the box according to multiple agent group's system navigation and obstacle avoidance apparatus under the dynamic environment of the embodiment of the present invention
Schematic diagram.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Multiple agent group's system navigation under the dynamic environment proposed according to embodiments of the present invention is described with reference to the accompanying drawings
With barrier-avoiding method and device, the multiple agent under the dynamic environment proposed according to embodiments of the present invention is described with reference to the accompanying drawings first
The navigation of group's system and barrier-avoiding method.
Fig. 1 is the flow chart of multiple agent group's system navigation and barrier-avoiding method under the dynamic environment of the embodiment of the present invention.
As shown in Figure 1, under the dynamic environment multiple agent group's system navigation with barrier-avoiding method the following steps are included:
In step s101, path planning is carried out according to global map, generates global path.
It is understood that the embodiment of the present invention carries out path planning according to global map first, wherein each intelligent body
Model can be p with geometric centeri, bottom surface radius be r, a height of 2h cylinder for.It should be noted that intelligent body includes
But it is not limited to autonomous driving vehicle, automated guided vehicle (Automated Guided Vehicle, AGV), autonomous underwater
Aircraft (Autonomous Underwater Vehicle, AUV) and unmanned plane (Unmanned Aerial Vehicle,
The mobile platforms such as UAV).
Wherein, to agent swarm system, in advance given a series of possible formationsWherein f is prior
Given formation sum.Each given formation includes coordinate letter of each intelligent body in formation using formation center as origin
BreathThe coordinate information on formation convex closure vertexAnd in forming into columns two intelligent bodies it
Between minimum range
Further, in one embodiment of the invention, path planning is carried out according to global map, comprising: obtain complete
Local figure and associated static obstacle information, dynamic barrier information, and take and carry out the overall situation similar to random road sign figure method
Path planning, wherein each road sign point indicates agent swarm system in the formation state of corresponding road sign point, and it includes agent swarms
The formation information of system centre and the related coefficient of formation similarity transformation, and the side between the adjacent road sign point of every two then corresponds to its company
Two vertex connect and a convex set.
Specifically, each intelligent physical efficiency learns global map and related quiet, dynamic barrier information in real time, and takes similar
Global path planning is carried out in the method for random road sign figure method (Probabilistic Roadmaps, PRM).PRM is generated every
A road sign point indicates formation state of the agent swarm system near the road sign point, attached at this comprising agent swarm system centre
Formation information when closeAnd related coefficient t, s, the q of formation similarity transformation, whereinFor translation coefficient,For
Similar proportion, q are the unit quaternion for indicating rotation.Accordingly, the side between the adjacent road sign point of every two then corresponds to its connection
Two vertex and a convex set
In step s 102, each intelligent body of multiple agent group system and the convex set of next road sign point are obtained.
That is, secondly the embodiment of the present invention calculates the larger convex set comprising current each intelligent body and next road sign point.
Further, in one embodiment of the invention, each intelligent body of multiple agent group system and next is obtained
The convex set of road sign point, comprising: the original state of the convex closure as the convex polyhedron that are formed using preset passes through in each iteration
Convex optimization problem is solved, solution obtains the separation plane between convex polyhedron and barrier set to expand convex polyhedron volume, and
The inscribe ellipsoid of new convex polyhedron is solved, until meeting the convex set of preset condition, multiple planes on its boundary can be used to indicate.
It is understood that the larger convex set in global map comprising some set points can be solved if necessary, and full
The foot convex set and barrier intersection are sky.This problem can be met the requirements by successively constantly expanding one in each iteration
Convex polyhedron and its internal ellipsoid solve.Firstly, using the convex closure that these set points are formed as convex polyhedron
Original state, in each iteration, this method obtain convex polyhedron and barrier by solving a series of convex optimization problems, solution
Separation plane between set expands convex polyhedron volume, and solves the inscribe ellipsoid of new convex polyhedron, so can repeatedly obtain
Meet above-mentioned constraint and the biggish convex set of volume to one, several planes on its boundary can be used to indicate.
In step s 103, according to global path using convex set as path navigation to next road sign point.
Finally, the embodiment of the present invention is using convex set as path navigation to next road sign point.
It optionally, in one embodiment of the invention, is that its is adjacent from the corresponding formation state transformation of a road sign point
The corresponding formation state of road sign point, wherein the calculation formula of formation state are as follows:
Wherein, wsAnd wqFor associated weight, clFor the preset constant weight of each formation, t, s, q is formation similarity transformation
Related coefficient, f is preset formation sum, and r is the bottom surface radius of the model of intelligent body, and a height of 2h.
Specifically, when needing to carry out once new global path planning, initialization figure G={ V, E } and setFor
Sky, whereinSet for the convex set being selected in the figure side G collection E.In subsequent each iteration, all in no static-obstacle thing
Space in randomly select one and do not gathering yetIn point in any one convex set, and solve a volume with aforementioned algorism
It is big as far as possible, include the point and the convex polyhedron that does not intersect with any barrierIt is solvingAfterwards, willSet is added
And it investigatesIn each withThe element of intersectionAttempt to solve a formation stateAnd its corresponding t, s, q, so that the team
The corresponding all intelligent bodies of shape state all existIt is interior.Give a desired similar proportionWith desired formation direction
Then carrying out following Optimization Solution can be obtained formation state:
In formula, wsAnd wqFor associated weight, clFor the preset constant weight of each formation.If optimized successfully, excellent
Change result as a new summit v0It is added in figure G, while to convex polyhedronWithThe vertex connected in the collection E of side
SetWithBy all sidesWithIt is added in side collection E, wherein
The weight on side is the Euclidean distance at two vertex correspondence formation centers.After enough vertex and side are added into figure, application
A preferably global path can be obtained in the shortest path first of the figures such as dijkstra's algorithm.
In turn, agent swarm system can be by certain control algolithm without collision from the corresponding formation of a road sign point
State transformation is the corresponding formation state of its adjacent road sign point.Method particularly includes: the given each individual of agent swarm system is worked as
Preceding state and in the formation state that destination will be realized meets in the convex closure that these points are formed and does not include any static-obstacle
Object, then by with the following optimization problem of appropriate frequency Real-time solution
||ui||≤vmax
It can be in the hope of intelligent body optimal reference velocity u in real timei, and in shorter 0≤t of a time interval≤τ by
The related controller of intelligent body makes the motion state of intelligent body be intended to the corresponding motion state of optimal reference velocity.In formula, Ko
For a default weight,For agent swarm arrangement adjacent barrier,For intelligence
The desired speed of energy body,Intelligent body controller is acted on for the barrier and other intelligent bodies on intelligent body periphery, the one of generation
A lesser inverted speed.
When wherein, to optimal reference velocity correlation Optimization Solution, the constraint condition line non-convex to the problem the first two is needed
Property turns to one of the following two kinds form, and former problem is turned to a convex optimization problem:
nj·ui≤aij
Or
nij·(ui-uj)≤bij
To the linear restriction that preceding formula in two formulas is stated, n is takenjSection S outside barrier is closed on for intelligent bodyjNormal vector, and
It takesThe formula can be used to intelligent body and the collision prevention of barrier constrains；Formula rear in two formulas is stated
Linear restriction, the ((p when two intelligent bodies are adjacent to each otheri-pj)·(vi-vj) < 0), it takesbijIt then can root
Threshold value appropriate is taken according to actual needs, which can be used to the constraint of the collision prevention between intelligent body；When two intelligent bodies away from each other
When, then it is not necessarily to any constraint condition.
If optimal reference velocity relevant optimization problem Optimization Solution failure, each intelligent body lead independence to target point
Boat, each intelligent body will be using other all intelligent bodies as dynamic barrier processing in this case.Wherein, each intelligent body phase
The linear restriction quantity of pass has upper bound KC, prevent Over-constrained from optimization being caused to fail.
In addition, in one embodiment of the invention, further includes: become solving from the corresponding formation state of a road sign point
When being changed to the associated control parameters of the corresponding formation state of its adjacent road sign point, if working as pre-group system intelligent body and vertex sequence
In next vertex correspondence formation center composition convex closure in include dynamic barrier, then with group's system centre under current state
Initial value with the line at the formation center of vertex correspondence next in sequence as ellipsoid and convex polyhedron, solves the calculation of convex set
Method gradually expands ellipsoid and convex polyhedron, obtains one and includes the team when next vertex correspondence in pre-group system centre and sequence
The new convex set at shape center, and next vertex in subsequent real time control algorithms approximating sequence is called by path of new convex set；In
After optimization failure, then group's system temporarily ceases action, and when the accumulative time that breaks off an action is beyond preset threshold, will affect optimization
Barrier temporarily mark and be, and re-start global path planning.
It is understood that being that its adjacent road sign point is corresponding solving from the corresponding formation state transformation of a road sign point
When the associated control parameters of formation state, if when next vertex correspondence formation in pre-group system intelligent body and vertex sequence
It include dynamic barrier in the convex closure of center composition, then with next vertex pair in group's system centre under current state and sequence
Initial value of the line at the formation center answered as ellipsoid and convex polyhedron gradually expands using the aforementioned algorithm for solving larger convex set
Big ellipsoid and convex polyhedron obtain one comprising when the formation center of next vertex correspondence in pre-group system centre and sequence
Larger convex set, and next vertex in subsequent real time control algorithms approximating sequence is called by path of this convex set.If above-mentioned
Optimization failure, then group's system temporarily ceases action.When the accumulative time that breaks off an action is beyond certain threshold value, system will affect optimization
Barrier temporarily mark and be, and re-start global path planning.
The method of the embodiment of the present invention is described in detail with a specific embodiment below with reference to shown in Fig. 2.
Step S1: system carries out path planning according to global map.
In one embodiment of the invention, each intelligent physical efficiency learns global map and associated disorders object information in real time.
The method similar to random road sign figure method is taken to carry out global path planning.To agent swarm system, in advance given a system
Arranging may formationWherein f is formation sum given in advance.Each given formation includes with formation center
For origin, the coordinate information of each intelligent bodyThe coordinate information on formation convex closure vertexAnd the minimum range in forming into columns between two intelligent bodiesEach road that random road sign figure method generates
Punctuate indicates formation state of the agent swarm system near the road sign point, therefore each road sign point should include agent swarm system
Center at this near when formation informationAnd related coefficient t, s, the q of formation similarity transformation, whereinFor translation
Coefficient,For similar proportion, q is the unit quaternion for indicating rotation.Accordingly, the side between the adjacent road sign point of every two is then
Two vertex of its corresponding connection and a convex set(practical is convex polyhedron), so that intelligence in subsequent steps
Body group system can be without collision its adjacent road from the corresponding formation state transformation of a road sign point by certain control algolithm
The corresponding formation state of punctuate.The collection for remembering that these convex sets are constituted is combined into
In one embodiment of the invention, whenever carrying out once new global path planning, initialization figure G=
{ V, E } and setFor sky, whereinSet for the convex set being selected in the figure side G collection E.Then, in no static-obstacle
One is randomly selected in the space of object not gather yetIn point in any one convex set, and solve a volume it is big as far as possible,
Include the point and the convex polyhedron that does not intersect with any barrierSolution to this convex polyhedron, uses R.Deits
And R.Tedrake, " Computing large convex regions of obstacle free space through
Semidefinite programming, " Workshop on the Algorithmic Fundamentals of
Robotics, the method in 2014. are changing every time using the point randomly selected as the original state of ellipsoid and convex polyhedron
Dai Zhong, this method obtain the separation plane between convex polyhedron and barrier set by solving a series of convex optimization problems, solution
Expand convex polyhedron volume, and solve the inscribe ellipsoid of new convex polyhedron, so repeatedly can be obtained one meet it is above-mentioned about
Beam and the biggish convex polyhedron of volume.Due to length, excessive introduction is not done to the method herein.
It is solvingAfterwards, willSet is addedIfWithSome other elementsIntersection, it is desirable that solving
One formation stateAnd its corresponding t, s, q, so that the corresponding all intelligent bodies of the formation state all existIt is interior.It gives
A fixed desired similar proportionWith desired formation directionThen carrying out following optimization can be obtained formation state:
Wherein, wsAnd wqFor associated weight, clFor the preset constant weight of each formation.First constraint makes each intelligence
Energy body is all in convex setInterior, second constraint makes intelligent body not collide with each other (it is assumed that the model of each intelligent body is several
What center is pi, bottom surface radius be r, a height of 2h cylinder, be denoted as).If optimized successfully, we make optimum results
For a new summit v0It is added in figure G, while to convex polyhedronWithThe set on the vertex connected in the collection E of side
WithBy all sidesWithIt is added in side collection E, wherein The weight on side
For the Euclidean distance at two vertex correspondence formation centers.
After enough vertex and side are added into figure, the shortest path first of the figures such as dijkstra's algorithm is selected
Obtain a preferably global path.
Step S2: the larger convex set comprising current each intelligent body and next road sign point is calculated.
After completing the global path planning in step S1, the sequence being made of the part vertex of figure will be obtained, is connect down
Come agent swarm system only need along these vertex, according to their corresponding formation state action with can reaching target.But
It is that, since there is dynamic barriers in map, the convex set that generally cannot directly use the side of figure specified is needed as path
Will τ at regular intervals, just calculate the convex set path in an agent swarm system and sequence between next vertex in real time.
At this point, considering all intelligent bodies and the formation central point formation of next vertex correspondence in sequence under current state
Convex closure.If directly being approached by the path invocation step S3 control algolithm provided of the convex closure without any barrier in the convex closure
Next vertex in sequence；Otherwise, with the formation of next vertex correspondence in group's system centre under current state and sequence
Initial value of the line at center as ellipsoid and convex polyhedron, the algorithm for the larger convex set of solution mentioned in applying step S1 is gradually
Expand ellipsoid and convex polyhedron, obtains one comprising when the formation center of next vertex correspondence in pre-group system centre and sequence
Larger convex set, and using next vertex in the control algolithm approximating sequence that this convex set is provided as path invocation step S3.If
There is dynamic barrier to make above-mentioned optimization failure (such as dynamic barrier is just located on the line of two o'clock), then group's system is temporarily stopped
Only take action.When the accumulative time that breaks off an action is beyond certain threshold value, system, which temporarily marks the barrier, is, and
Re-start the global path planning in step S1.
Step S3: using convex set as path navigation to next road sign point.
If in sequence in next vertex correspondence formation, the collection of each intelligent body coordinate is combined intoIts
Middle m is intelligent body quantity.Next vertex and correspondence is formed in the path sequence acquired in S1 step to navigate to intelligent body
The sum of the total distance that formation passes through is most short, solves following problems:
WhereinFor the current position coordinates for the intelligent body that number is j.Thus, it is specified that the expectation of each intelligent body
SpeedMeet
WhereinFor expected rate, KuFor a distance coefficient, the intelligent body for being j is numbered from vertex next in sequence so that working as
Correspondence formation position distance be less than KuWhen, slow down in proportion, remaining moment then it is expected that intelligent body keeps expected rate.In
In the case where completely accessible, each intelligent body keeps desired speed that can most effectively arrive at the destination completion forming into columns.Together
When, in order to reinforce collision prevention effect, introduce " repulsion "It is similar with Artificial Potential Field Method, when intelligent body is from barrier (including other intelligence
Can body) it is closer when, controller will generate the speed of an opposite direction, but in one embodiment of the invention, should " repulsion "
Size be much smaller than traditional artificial potential field method, not influence intelligent body control and algorithm effect principal element.
A more excellent solution of the intelligent body speed control in actual complex environment, i.e., optimal reference velocity u are solved belowj。
It is assumed that the speed of each intelligent body remains optimal reference velocity u in 0≤t of a Short Interval≤τjIt is constant, then its
Coordinate p in this time section0, j(t)=pj+tuj.Now to the optimal reference velocity u of all intelligent bodiesjIt is solved, it is expected that every
The optimal reference velocity of a intelligent body is closeAnd each intelligent body is encouraged to keep existing actual speed vj, and make most
Excellent reference velocity ujMeet physical constraint condition in 0≤t of time interval≤τ, obtain optimization problem:
||ui||≤vmax
Wherein KoFor a default weight,It is agent swarm arrangement adjacent barrier (since τ is smaller, it is possible to dynamic
State barrier also regards stationary obstruction as).First constraint condition prevents intelligent body and barrier to bump against, second constraint item
Part prevents the collision between intelligent body, and third constraint condition limits the maximum rate of each intelligent body.Due to the first two
Constraint condition and non-convex constraint condition make problem become convex optimization problem in turn so reinforcing constraining by way of linearisation
Facilitate solution.To the barrier or other intelligent bodies near each intelligent body, collision prevention related constraint can all be write as
nj·ui≤aij
Or
nij·(ui-uj)≤bij
One of both.To the linear restriction that preceding formula is stated, n is takenjSection S outside barrier is closed on for intelligent bodyjNormal direction
Amount, and takeThe formula can be used to intelligent body and the collision prevention of barrier constrains；The line that rear formula is stated
Property constraint, the ((p when two intelligent bodies are adjacent to each otheri-pj)·(vi-vj) < 0), it takesbijIt then can root
Threshold value appropriate is taken according to actual needs, which can be used to the constraint of the collision prevention between intelligent body；When two intelligent bodies away from each other
When, then it is not necessarily to any constraint condition.In practical applications, the dependent linearity amount of constraint of each intelligent body should be set on one
Boundary KC, prevent Over-constrained from optimization being caused to fail.
To revised optimization problem solving, it is optimal in 0≤t of Short Interval≤τ that each intelligent body can be obtained
Reference velocity uj, intelligent body is controlled by associated control element in conjunction with the practical dynamic performance of intelligent body, realizes intelligence
Tracking of the body to optimal reference locus, and then realize navigation and the barrier avoiding function of multiple agent group system.If optimization failure,
Each intelligent body will independently navigate to target point, and each intelligent body will be using other all intelligent bodies as dynamic disorder in this case
Object processing.
To sum up, multiple agent group's system navigation under the dynamic environment of the embodiment of the present invention and barrier-avoiding method, according to the overall situation
Map carries out path planning and calculates the larger convex set comprising current each intelligent body and next road sign point, to lead by path of convex set
Boat is realized and is led by changing agent swarm system of the formation in all kinds of dynamic disorder substance environments in real time to next road sign point
Boat, the function of avoidance, evaded traditional group's system air navigation aid application scenarios such as Artificial Potential Field Method are simple, algorithm robustness is poor,
The disadvantages of being easily trapped into deadlock will expand multiple agents group's systematic difference occasion such as multiple no-manned plane, unmanned vehicle cluster significantly, and be
Its navigation application under complex application context provides robust and efficient systems approach.
Multiple agent group's system navigation under the dynamic environment proposed according to embodiments of the present invention referring next to attached drawing description
With obstacle avoidance apparatus.
Fig. 3 is that the box of the navigation of multiple agent group's system and obstacle avoidance apparatus under the dynamic environment of the embodiment of the present invention is illustrated
Figure.
As shown in figure 3, multiple agent group's system under the dynamic environment is navigated with avoidance 10 includes: planning module 100, is obtained
Modulus block 200 and navigation and obstacle avoidance module 300.
Wherein, planning module 100 is used to carry out path planning according to global map, generates global path.
It obtains module 200 and is used to obtain each intelligent body of multiple agent group's system and the convex set of next road sign point.
Navigation and obstacle avoidance module 300 are used for according to global path using convex set as path navigation to next road sign point.
Further, in one embodiment of the invention, planning module 100 includes: acquiring unit.
Wherein, acquiring unit is used to obtain global map and associated static obstacle information, dynamic barrier information, and
It takes and is similar to random road sign figure method progress global path planning, wherein each road sign point indicates agent swarm system in correspondence
The formation state of road sign point, it includes the related coefficients of the formation information of agent swarm system centre and formation similarity transformation, and
Side between the adjacent road sign point of every two then corresponds to two vertex and a convex set that it is connected.
Further, in one embodiment of the invention, obtaining module 200 includes: solution unit.
Wherein, unit is solved to be used for using the convex closure that preset is formed as the original state of convex polyhedron, in each iteration
In, by solving convex optimization problem, solution obtains the separation plane between convex polyhedron and barrier set to expand convex polyhedron
Volume, and the inscribe ellipsoid of new convex polyhedron is solved, until meeting the convex set of preset condition, multiple planes on its boundary can be used
It indicates.
It optionally, in one embodiment of the invention, is that its is adjacent from the corresponding formation state transformation of a road sign point
The corresponding formation state of road sign point, wherein the calculation formula of formation state are as follows:
Wherein, wsAnd wqFor associated weight, clFor the preset constant weight of each formation, t, s, q is formation similarity transformation
Related coefficient, f is preset formation sum, and r is the bottom surface radius of the model of intelligent body, and a height of 2h.
In addition, in one embodiment of the invention, the device 10 of the embodiment of the present invention further include: optimization module and control
Module.
Wherein, optimization module is used to solving from the corresponding formation state transformation of a road sign point be its adjacent road sign point pair
When the associated control parameters for the formation state answered, if when next vertex correspondence team in pre-group system intelligent body and vertex sequence
It include dynamic barrier in the convex closure of the center composition of shape, then with next vertex in group's system centre under current state and sequence
Initial value of the line at corresponding formation center as ellipsoid and convex polyhedron, the algorithm for solving convex set gradually expand ellipsoid and convex
Polyhedron obtains one and includes the new convex set when the formation center of next vertex correspondence in pre-group system centre and sequence, and
Next vertex in subsequent real time control algorithms approximating sequence is called by path of new convex set.
Control module is used for after optimization failure, then group's system temporarily ceases action, and when the accumulative time that breaks off an action is super
Out when preset threshold, the barrier that will affect optimization, which temporarily marks, is, and re-starts global path planning.
It should be noted that the aforementioned solution to multiple agent group's system navigation and barrier-avoiding method embodiment under dynamic environment
The navigation of multiple agent group's system and obstacle avoidance apparatus that explanation is also applied under the dynamic environment of the embodiment are released, it is no longer superfluous herein
It states.
The navigation of multiple agent group's system and obstacle avoidance apparatus under dynamic environment according to an embodiment of the present invention, according to globally
Figure carries out path planning and calculates the larger convex set comprising current each intelligent body and next road sign point, thus using convex set as path navigation
To next road sign point, realize by change in real time agent swarm system navigation of the formation in all kinds of dynamic disorder substance environments,
The function of avoidance, has evaded that traditional group's system air navigation aid application scenarios such as Artificial Potential Field Method are simple, algorithm robustness is poor, easy
The disadvantages of having reached an impasse will expand multiple agents group's systematic difference occasion such as multiple no-manned plane, unmanned vehicle cluster significantly, be its
Navigation application under complex application context provides robust and efficient systems approach.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or N number of embodiment or example.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, " N number of " is meant that at least two, such as two, three
Deng unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
One or it is more N number of for realizing custom logic function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: being electrically connected with one or N number of wiring
Socket part (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory (ROM),
Erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk read-only storage
(CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other suitable Jie
Matter, because can then be edited, be interpreted or when necessary with other for example by carrying out optical scanner to paper or other media
Suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that N number of step or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.Such as, if realized with hardware in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized: have for data-signal is realized the logic gates of logic function from
Logic circuit is dissipated, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
Claims (10)
1. the navigation of multiple agent group's system and barrier-avoiding method under a kind of dynamic environment, which comprises the following steps:
Path planning is carried out according to global map, generates global path；
Obtain each intelligent body of multiple agent group system and the convex set of next road sign point；And
According to the global path using the convex set as path navigation to next road sign point.
2. the method according to claim 1, wherein described carry out path planning according to global map, comprising:
Global map and associated static obstacle information, dynamic barrier information are obtained, and is taken similar to random road sign figure
Method carries out global path planning, wherein each road sign point indicates agent swarm system in the formation state of corresponding road sign point, packet
The related coefficient of the formation information and formation similarity transformation of the system centre containing agent swarm, and the side between the adjacent road sign point of every two
Then correspond to two vertex and a convex set that it is connected.
3. the method according to claim 1, wherein it is described obtain multiple agent group system each intelligent body and
The convex set of next road sign point, comprising:
Using the convex closure that preset is formed as the original state of convex polyhedron, in each iteration, by solving convex optimization problem,
Solution obtains the separation plane between the convex polyhedron and barrier set to expand convex polyhedron volume, and solves new convex multi-panel
The inscribe ellipsoid of body can be used multiple planes on its boundary to indicate until meeting the convex set of preset condition.
4. the method according to claim 1, wherein from the corresponding formation state transformation of a road sign point be its phase
The corresponding formation state of adjacent road sign point, wherein the calculation formula of the formation state are as follows:
Wherein, wsAnd wqFor associated weight, clFor the preset constant weight of each formation, t, s, q is the phase of formation similarity transformation
Relationship number, f are preset formation sum, and r is the bottom surface radius of the model of intelligent body, and a height of 2h.
5. according to the method described in claim 3, it is characterized by further comprising:
Solve be from the corresponding formation state transformation of a road sign point the corresponding formation state of its adjacent road sign point related control
When parameter processed, if when in the convex closure that the center of next vertex correspondence formation in pre-group system intelligent body and vertex sequence forms
Comprising dynamic barrier, then with the formation center of next vertex correspondence in group's system centre under the current state and sequence
Initial value of the line as ellipsoid and convex polyhedron, the algorithm for solving the convex set gradually expand ellipsoid and convex polyhedron, obtain
One includes the new convex set when the formation center of next vertex correspondence in pre-group system centre and sequence, and with the new convex set
Next vertex in subsequent real time control algorithms approximating sequence is called for path；
After optimization failure, then group's system temporarily ceases action, and when the accumulative time that breaks off an action is beyond preset threshold, by shadow
The barrier for ringing optimization, which temporarily marks, is, and re-starts global path planning.
6. the navigation of multiple agent group's system and obstacle avoidance apparatus under a kind of dynamic environment characterized by comprising
Planning module generates global path for carrying out path planning according to global map；
Module is obtained, for obtaining each intelligent body of multiple agent group's system and the convex set of next road sign point；And
Navigation and obstacle avoidance module are used for according to the global path using the convex set as path navigation to next road sign point.
7. device according to claim 6, which is characterized in that the planning module includes:
Acquiring unit for obtaining global map and associated static obstacle information, dynamic barrier information, and is taken similar
Global path planning is carried out in random road sign figure method, wherein each road sign point indicates agent swarm system in corresponding road sign point
Formation state, it includes the related coefficient of the formation information of agent swarm system centre and formation similarity transformation, and every two phase
Side between adjacent road sign point then corresponds to two vertex and a convex set that it is connected.
8. device according to claim 6, which is characterized in that the acquisition module includes:
Unit is solved, for the original state using the convex closure that preset is formed as convex polyhedron, in each iteration, by asking
It solves convex optimization problem, solves and obtain separation plane between the convex polyhedron and barrier set to expand convex polyhedron volume,
And the inscribe ellipsoid of new convex polyhedron is solved, until meeting the convex set of preset condition, multiple planes on its boundary can be used
It indicates.
9. device according to claim 6, which is characterized in that from the corresponding formation state transformation of a road sign point be its phase
The corresponding formation state of adjacent road sign point, wherein the calculation formula of the formation state are as follows:
Wherein, wsAnd wqFor associated weight, clFor the preset constant weight of each formation, t, s, q is the phase of formation similarity transformation
Relationship number, f are preset formation sum, and r is the bottom surface radius of the model of intelligent body, and a height of 2h.
10. device according to claim 8, which is characterized in that further include:
Optimization module, for being the corresponding formation of its adjacent road sign point solving from the corresponding formation state transformation of a road sign point
When the associated control parameters of state, if when the center of next vertex correspondence formation in pre-group system intelligent body and vertex sequence
It include dynamic barrier in the convex closure of composition, then with next vertex correspondence in group's system centre under the current state and sequence
Formation center initial value of the line as ellipsoid and convex polyhedron, the algorithm for solving the convex set gradually expands ellipsoid and convex
Polyhedron obtains one and includes the new convex set when the formation center of next vertex correspondence in pre-group system centre and sequence, and
Next vertex in subsequent real time control algorithms approximating sequence is called by path of the new convex set；
Control module, for after optimization failure, then group's system to temporarily cease action, and when the accumulative time that breaks off an action is beyond pre-
If when threshold value, the barrier that will affect optimization, which temporarily marks, is, and re-starts global path planning.
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Application publication date: 20191115 |