DOI:
https://doi.org/10.14483/22484728.11011Publicado:
2015-06-23Número:
Vol. 9 Núm. 1 (2015)Sección:
Visión InvestigadoraLa teoría evolutiva como solución al control de formación
Evolutionary theory as solution to the formation control
Palabras clave:
control de formación, robótica móvil, sistemas multi-agente (es).Palabras clave:
formation control, mobil robotics, multiagent systems (en).Descargas
Resumen (es)
Se presenta un control de formación para múltiples Vehículos
Submarinos Autónomos con estructura de tipo líder-seguidor. El controlador se modela como un sistema multi-agente representado por un dígrafo compuesto por vértices y artistas que simbolizan los agentes (vehículos) y el sistema de comunicación, respectivamente. Se empleó la matriz Laplaciana compleja del dígrafo, para calcular la formación geométrica y enseguida se evalúa la respuesta de consenso de la formación utilizando la teoría evolutiva dinámica del replicador mutador. Finalmente, se integran las dos respuestas y se calcula la posición de cada agente seguidor. Las simulaciones muestran que combinando estas dos teorías se puede garantizar una perfecta formación geométrica en todo momento y que se pueden emplear un sinnúmero de agentes en la estructura.
Resumen (en)
We present a formation control for multiple vehicles Autonomous
submarines with type structure leader - follower. The controller is modeled as a multi-agent system represented by a digraph consisting of vertices and artists symbolizing agents (vehicles) and the communication system, respectively. The digraph complex Laplacian matrix was used to calculate the geometrical formation and then evaluates the response of the formation consensus using the dynamic evolutionary theory of the Replicator-mutator. Finally, two answers are integrated and it calculates the position of each follower agent. Simulations show that combining these two theories can be guaranteed a perfect geometrical formation at all times and that a number of agents can be used in the structure.
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