多智能体协同无人车无人机无人船编队控制路径跟随基于模型预测控制的无人艇分布式编队协同控制MPC matlab控制仿真 代码 simulink控制器路径规划

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ZIP 多智能体协同无人车无人机无人船编.zip 大约有9个文件
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  4. 多智能体协同无人车无人机与无人船的编队控制.doc 2.51KB
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多智能体协同无人车无人机无人船编队控制路径跟随 基于模型预测控制的无人艇分布式编队协同控制 MPC matlab控制仿真 代码 simulink控制器 路径规划
<link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/base.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/fancy.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/90214359/2/raw.css" rel="stylesheet"/><div id="sidebar" style="display: none"><div id="outline"></div></div><div class="pf w0 h0" data-page-no="1" id="pf1"><div class="pc pc1 w0 h0"><img alt="" class="bi x0 y0 w1 h1" src="/image.php?url=https://csdnimg.cn/release/download_crawler_static/90214359/bg1.jpg"/><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">**<span class="ff2">多智能体协同<span class="ff3">：</span>无人车<span class="ff4">、</span>无人机与无人船的编队控制与路径跟随技术</span>**</div><div class="t m0 x1 h2 y2 ff2 fs0 fc0 sc0 ls0 ws0">一<span class="ff4">、</span>引言</div><div class="t m0 x1 h2 y3 ff2 fs0 fc0 sc0 ls0 ws0">随着科技的飞速发展<span class="ff3">，</span>多智能体协同控制技术日益受到重视<span class="ff4">。</span>其中<span class="ff3">，</span>无人车<span class="ff4">、</span>无人机和无人船的编队</div><div class="t m0 x1 h2 y4 ff2 fs0 fc0 sc0 ls0 ws0">控制与路径跟随技术成为了研究热点<span class="ff4">。</span>本文将围绕<span class="ff1">“</span>多智能体协同无人车无人机无人船编队控制路径</div><div class="t m0 x1 h2 y5 ff2 fs0 fc0 sc0 ls0 ws0">跟随<span class="ff1">”</span>这一主题<span class="ff3">，</span>探讨基于模型预测控制的无人艇分布式编队协同控制<span class="ff3">，</span>以及<span class="_ _0"> </span><span class="ff1">MPC<span class="_ _1"> </span></span>在<span class="_ _0"> </span><span class="ff1">Matlab<span class="_ _1"> </span></span>中的控</div><div class="t m0 x1 h2 y6 ff2 fs0 fc0 sc0 ls0 ws0">制仿真代码和<span class="_ _0"> </span><span class="ff1">Simulink<span class="_ _1"> </span></span>控制器的应用<span class="ff3">，</span>同时还会涉及到路径规划的相关技术<span class="ff4">。</span></div><div class="t m0 x1 h2 y7 ff2 fs0 fc0 sc0 ls0 ws0">二<span class="ff4">、</span>多智能体协同编队控制基础</div><div class="t m0 x1 h2 y8 ff2 fs0 fc0 sc0 ls0 ws0">多智能体协同编队控制涉及到多个自主实体<span class="ff3">（</span>如无人车<span class="ff4">、</span>无人机<span class="ff4">、</span>无人船等<span class="ff3">）</span>之间的协作与配合<span class="ff3">，</span>以</div><div class="t m0 x1 h2 y9 ff2 fs0 fc0 sc0 ls0 ws0">实现共同的任务目标<span class="ff4">。</span>这种协同控制需要解决通信<span class="ff4">、</span>决策<span class="ff4">、</span>路径规划等问题<span class="ff3">，</span>确保各个智能体能够有</div><div class="t m0 x1 h2 ya ff2 fs0 fc0 sc0 ls0 ws0">效地协同工作<span class="ff4">。</span></div><div class="t m0 x1 h2 yb ff2 fs0 fc0 sc0 ls0 ws0">三<span class="ff4">、</span>无人车<span class="ff4">、</span>无人机<span class="ff4">、</span>无人船的编队控制</div><div class="t m0 x1 h2 yc ff2 fs0 fc0 sc0 ls0 ws0">编队控制是多智能体协同控制的核心之一<span class="ff4">。</span>在无人车<span class="ff4">、</span>无人机<span class="ff4">、</span>无人船的编队控制中<span class="ff3">，</span>需要通过设计</div><div class="t m0 x1 h2 yd ff2 fs0 fc0 sc0 ls0 ws0">合适的控制算法<span class="ff3">，</span>使得各个智能体能够根据任务需求和周围环境的变化<span class="ff3">，</span>自动调整自身的运动状态<span class="ff3">，</span></div><div class="t m0 x1 h2 ye ff2 fs0 fc0 sc0 ls0 ws0">以保持编队的形状和稳定性<span class="ff4">。</span></div><div class="t m0 x1 h2 yf ff2 fs0 fc0 sc0 ls0 ws0">四<span class="ff4">、</span>基于模型预测控制的无人艇分布式编队协同控制</div><div class="t m0 x1 h2 y10 ff2 fs0 fc0 sc0 ls0 ws0">基于模型预测控制的无人艇分布式编队协同控制是一种重要的编队控制方法<span class="ff4">。</span>该方法通过建立被控对</div><div class="t m0 x1 h2 y11 ff2 fs0 fc0 sc0 ls0 ws0">象的数学模型<span class="ff3">，</span>利用模型预测控制算法进行优化决策<span class="ff3">，</span>实现对无人艇的精确控制<span class="ff4">。</span>在分布式编队协同</div><div class="t m0 x1 h2 y12 ff2 fs0 fc0 sc0 ls0 ws0">控制中<span class="ff3">，</span>每个无人艇都根据自身的信息和周围其他无人艇的信息进行决策<span class="ff3">，</span>从而实现整个编队的协同</div><div class="t m0 x1 h2 y13 ff2 fs0 fc0 sc0 ls0 ws0">控制<span class="ff4">。</span></div><div class="t m0 x1 h2 y14 ff2 fs0 fc0 sc0 ls0 ws0">五<span class="ff4">、<span class="ff1">MPC<span class="_ _1"> </span></span></span>在<span class="_ _0"> </span><span class="ff1">Matlab<span class="_ _1"> </span></span>中的控制仿真与<span class="_ _0"> </span><span class="ff1">Simulink<span class="_ _1"> </span></span>控制器</div><div class="t m0 x1 h2 y15 ff1 fs0 fc0 sc0 ls0 ws0">MPC<span class="ff3">（<span class="ff2">模型预测控制</span>）<span class="ff2">是一种先进的控制方法</span>，<span class="ff2">可以在<span class="_ _0"> </span></span></span>Matlab<span class="_ _1"> </span><span class="ff2">中进行仿真和控制<span class="ff4">。</span>通过<span class="_ _0"> </span></span>Simulink</div><div class="t m0 x1 h2 y16 ff2 fs0 fc0 sc0 ls0 ws0">控制器<span class="ff3">，</span>可以方便地搭建控制系统模型<span class="ff3">，</span>并进行仿真实验<span class="ff4">。</span>在仿真过程中<span class="ff3">，</span>可以调整控制参数<span class="ff3">，</span>优化</div><div class="t m0 x1 h2 y17 ff2 fs0 fc0 sc0 ls0 ws0">控制效果<span class="ff3">，</span>为实际系统的控制和调试提供有力支持<span class="ff4">。</span></div><div class="t m0 x1 h2 y18 ff2 fs0 fc0 sc0 ls0 ws0">六<span class="ff4">、</span>路径规划技术</div><div class="t m0 x1 h2 y19 ff2 fs0 fc0 sc0 ls0 ws0">路径规划是多智能体协同控制中的重要环节<span class="ff4">。</span>在编队控制和路径跟随过程中<span class="ff3">，</span>需要根据任务需求和环</div><div class="t m0 x1 h2 y1a ff2 fs0 fc0 sc0 ls0 ws0">境变化<span class="ff3">，</span>为各个智能体规划出最优的路径<span class="ff4">。</span>路径规划技术包括全局路径规划和局部路径规划<span class="ff3">，</span>需要考</div><div class="t m0 x1 h2 y1b ff2 fs0 fc0 sc0 ls0 ws0">虑到各种约束条件<span class="ff3">，</span>如障碍物<span class="ff4">、</span>地形等<span class="ff4">。</span></div></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div>
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