基于传感网络的多移动智能体系统协调控制研究

项目名称： 基于传感网络的多移动智能体系统协调控制研究

项目编号： No.61074123

项目类型： 面上项目

立项/批准年度： 2011

项目学科： 建筑科学

项目作者： 高利新

作者单位： 温州大学

项目金额： 10万元

中文摘要： 近年来，复杂网络理论与应用研究成为物理学、系统科学、信息科学、生命科学等多学科的共同研究热点。本项目以多移动智能体系统为研究对象，研究传感网络环境下的系统建模和分布式协调控制策略，研究内容主要有：基于传感网络多移动智能体系统建模；面向多智能体系统协调控制传感网络调度策略；基于无线传感网络的分布控制策略及性能分析；具有约束条件多自主体系统的协调协议的设计与分析等。用控制理论、图论、概率论、优化理论、算法理论、非光滑分析等数学工具，给出系统模型和性能指标的合理数学描述，建立有关优化命题、分布式策略和控制算法，并进行性能分析。以应用为原则，以多移动机器人系统为背景，选择多移动机器人系统实例作为设计及仿真主要研究对象。项目的研究将有效推动多智能体系统和传感网络理论和应用的研究工作，为工业生产和国防军事中的应用提供理论保证和应用依据。

中文关键词： 多智能体系统；多移动机器人系统；协调控制；传感网络

英文摘要： Recently, the complex network theory and application have been the common researching hotspots of physics, systematology, informatics, biology and so on. In this project, we research the sysem modeling and distributed coordinated control strategy of multi-agent systems under the environment of the sensor network, and the main researching contentsinclude: Modeling of the multi-agent sestem under the sensor network environment; The scheduling strategy of the sensor network for the coordinated control of multi-agentsystem; Distributed control strategy and performance analysis based on the wireless sensing network; designing and analyzing the coordinated protocol under the constraint condition of multi-agents system. Using the control theory, graph theory, probability theory, optimization theory, algorithms theory, nonsmooth analysis and others, we establish the proper system model and performance index, propose the related optimization topics, distributed strategies and control algorithms, then make the performance analysis of system. With the principle of application and the background of moving and multi-robots system, we choose the examples of multiple mobile robot system as the main objects of design and simulation. The resaerch of the project will promote the development of theory and application for the multiple intel-agents in a system and sensor network, and the results can provide the theoretical and applied foundation in the manufacturing production and national defense.

英文关键词： Multi-agent system; Multiple mobile robot system; Coordinated control; Sensor network