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

Claim 5:
6. The multi-intelligent-agent cooperated transportation method according to claim 5, wherein the pheromone release time is decided by a pheromone release condition, and a (ki+1)th pheromone release time is acquired according to the following equation:, t
   
    
     k
     i
    
    +
    1
   
   i
  
  =
  
   
    
     
      7
      8
     
     ⁢
     
      t
      
       
        k
        i
       
       +
       1
      
      i
     
    
    +
    
     
      
       τ
       ˜
      
      
       k
       i
      
      i
     
     ⁢
        
     
      t
      
       
        k
        i
       
       +
       1
      
      i
     
    
   
   =
   
    
     
      7
      8
     
     ⁢
     
      t
      
       
        k
        i
       
       +
       1
      
      i
     
    
    +
    
     
      τ
      ˜
     
     
      k
      i
     
     i, wherein tkiu represents a ki th pheromone release time, {tilde over (τ)}kii>0 represents a positive time, and {tilde over (τ)}kii is determined according to the following equation:, τ
    ˜
   
   
    k
    i
   
   i
  
  =
  
   
    inf
    
     t
     >
     
      t
      
       k
       i
      
      i
     
    
   
   ⁢
   
    {
    
     
      
       t
       -
       
        t
        
         k
         i
        
        i
       
      
      |
      
       
        
         
          l
          i
         
         (
         t
         )
        
        ⁢
        
         
          d
          i
         
         (
         t
         )
        
        ⁢
        
         
          θ
          ei
          T
         
         (
         t
         )
        
        ⁢
        
         
          θ
          
           e
           ⁢
           i
          
         
         (
         t
         )
        
       
       >
       
        
         
          
           g
           ˆ
          
          
           1
           ⁢
           i
          
          T
         
         (
         t
         )
        
        ⁢
        
         
          
           g
           ˆ
          
          
           1
           ⁢
           i
          
         
         (
         t
         )
        
       
      
     
     ,
     
      t
      ≥
      0
     
    
    }, wherein both li(t) and di(t) represent first self-pheromone release parameters, li(0)≥1, di(0)≥1, a2>0, a2 is a positive real number, and θei(t) represents an estimation error.