Patent ID: 11880210
Assignee: SHENZHEN TECHNOLOGY UNIVERSITY
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 6:
7. The multi-intelligent-agent cooperated transportation method according to claim 1, wherein the intelligent agent cooperation controller triggered based on self-pheromone release is expressed as:, u
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    ), represents a set of neighbor intelligent agents sensed by the intelligent agent i by virtue of a sensor, Ni(t) represents a set of neighbor intelligent agents capable of communicating with the intelligent agent i, uid(t) is used for regulating a distance between the intelligent agent i and a surrounding neighbor intelligent agent, uixi(t) is used for regulating a distance between each intelligent agent and the leader intelligent agent, {circumflex over (q)}i(t) represents information, estimated by the intelligent agent i, of the leader intelligent agent, ∇qi represents an estimation coefficient, ĉ1 represents a constant, dir represents a desired distance between the intelligent agent i and the leader intelligent agent, βi(t) represents a second self-pheromone release parameter, βi(0)≥1, pi({circumflex over (t)}hii) represents a speed value of the intelligent agent i at the self-pheromone release time {circumflex over (t)}hii, {circumflex over (t)}oi, {circumflex over (t)}1i, . . . , {circumflex over (t)}li represents a series of release times, {circumflex over (p)}(t) represents an estimated speed of the leader intelligent agent, ĉ2 represents an experimental constant, ∥·∥σ represents a σ− norm, a3 represents a control coefficient, aij is a communication identifier and is 0 or 1, φα=ƒdzφα(y)dy represents a communication state between the intelligent agent i and the intelligent agent j, and ai0 represents a communication state between the intelligent agent i and the leader intelligent agent.