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针对多智能体系统中的定位问题,设计一种在变拓扑网络条件下的分布式目标定位算法,使所有智能体实现目标的相对定位.假设智能体只能获取局部的测量信息并进行局部信息交换.算法包括成对智能体之间相互定位算法和基于一致性的目标定位融合算法,对算法的成立条件和收敛误差进行分析,并通过仿真实验验证所提出算法的有效性.
Aiming at the localization problem in multi-agent system, a distributed target localization algorithm is designed under the condition of varying topological network, so that all agents can achieve the relative positioning of the target.It is assumed that the agent can only obtain local measurement information and local information Exchange.The algorithm includes the mutual localization algorithm and the consistency-based target localization fusion algorithm between pairs of agents, and analyzes the conditions for the establishment of the algorithm and the convergence error, and verifies the effectiveness of the proposed algorithm through simulation experiments.