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復(fù)雜時空約束下的多智能體運動規(guī)劃

作者：李石磊等
出版社：電子工業(yè)出版社出版時間：2023-12-01
開本： 其他 頁數(shù)： 164
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復(fù)雜時空約束下的多智能體運動規(guī)劃 版權(quán)信息

復(fù)雜時空約束下的多智能體運動規(guī)劃 本書特色

本書適合從事智能無人平臺運動規(guī)劃研究、開發(fā)的技術(shù)人員，以及相關(guān)專業(yè)的高校師生閱讀參考。

復(fù)雜時空約束下的多智能體運動規(guī)劃 內(nèi)容簡介

本書主要介紹了滿足多個時空約束要求的多智能體運動規(guī)劃技術(shù)，全書共8章：第1～2章闡述了運動規(guī)劃的基本概念、相關(guān)技術(shù)，重點講述了智能體多層次行為模型；第3～6章分別從不同角度對多智能體時空約束建模方法進行了講解；第7章介紹了相關(guān)仿真應(yīng)用案例；第8章對深度強化學(xué)習(xí)在運動規(guī)劃中的應(yīng)用進行了探索研究。 本書適合從事智能無人平臺運動規(guī)劃研究、開發(fā)的技術(shù)人員，以及相關(guān)專業(yè)的高校師生閱讀參考。

復(fù)雜時空約束下的多智能體運動規(guī)劃 目錄

第1 章 智能體運動規(guī)劃研究概述·······································································（1）
1.1 研究背景···························································································（1）
1.2 研究現(xiàn)狀···························································································（1）
1.3 研究思路···························································································（8）
第2 章 運動規(guī)劃中的智能體多層次行為模型框架設(shè)計·········································.（11）
2.1 環(huán)境建模方法··················································································.（11）
2.1.1 三角剖分法···········································································.（11）
2.1.2 可視圖方法···········································································.（12）
2.1.3 Voronoi 圖法··········································································.（12）
2.1.4 隨機采樣法···········································································.（13）
2.2 運動規(guī)劃方法··················································································.（16）
2.2.1 全局運動規(guī)劃········································································.（16）
2.2.2 局部運動規(guī)劃········································································.（20）
2.3 智能體多層次行為模型設(shè)計································································.（23）
2.3.1 智能體介紹···········································································.（23）
2.3.2 現(xiàn)有智能體行為模型框架·························································.（24）
2.3.3 智能體多層次行為模型框架······················································.（27）
第3 章 基于多信息域、多分辨率場景描述模型的多層次運動規(guī)劃算法研究··············.（31）
3.1 相關(guān)工作························································································.（31）
3.2 層次化運動規(guī)劃算法總體思路·····························································.（34）
3.2.1 問題描述··············································································.（34）
3.2.2 總體思路··············································································.（35）
3.3 全局層次上的多樣化引導(dǎo)路徑生成·······················································.（36）
3.3.1 高層時空約束的表示·······························································.（36）
3.3.2 全局概率路徑圖的生成····························································.（38）
3.3.3 全局多樣化引導(dǎo)路徑的生成······················································.（39）
3.4 局部層次上的多樣化運動路徑生成·······················································.（41）
3.4.1 局部高分辨率概率路徑圖的生成················································.（41）
3.4.2 局部多樣化運動路徑的生成······················································.（42）
3.5 動態(tài)障礙情況下的運動路徑重新規(guī)劃問題··············································.（43）
3.5.1 運動路徑的重新規(guī)劃·······························································.（43）
3.5.2 概率路徑圖的動態(tài)更新····························································.（44）
3.6 仿真實驗與結(jié)果分析·········································································.（45）
第4 章 多智能體避碰行為研究·······································································.（48）
4.1 相關(guān)工作························································································.（48）
4.2 避碰行為的基本概念與問題描述··························································.（50）
4.2.1 基本概念··············································································.（50）
4.2.2 問題描述··············································································.（51）
4.3 反應(yīng)式避碰行為模型·········································································.（52）
4.4 基于*小代價原則的預(yù)測式避碰行為模型··············································.（57）
4.4.1 *小代價原則········································································.（57）
4.4.2 基于*小代價原則的預(yù)測式避碰行為建！ぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁ.（58）
4.5 仿真實驗與結(jié)果分析·········································································.（63）
第5 章 基于增廣物理仿真的運動規(guī)劃多任務(wù)約束建模分析與優(yōu)化求解····················.（67）
5.1 相關(guān)工作························································································.（67）
5.2 問題描述························································································.（70）
5.3 控制圍欄函數(shù)基礎(chǔ)背景知識································································.（70）
5.4 基于控制圍欄函數(shù)的多任務(wù)約5
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復(fù)雜時空約束下的多智能體運動規(guī)劃 作者簡介

李石磊，海軍工程大學(xué)信息安全系講師、中國仿真學(xué)會仿真技術(shù)應(yīng)用專業(yè)委員會委員。主要從事復(fù)雜系統(tǒng)建模與仿真、信息安全技術(shù)研究與教學(xué)，主持了國家自然科學(xué)基金青年項目“物理仿真虛擬人運動控制技術(shù)研究”、博士后基金項目“復(fù)雜動態(tài)場景多智能體運動規(guī)劃技術(shù)”，參與了國家自然科學(xué)基金面上項目“數(shù)據(jù)和模型混合驅(qū)動的虛擬人群仿真及其在軍事中的應(yīng)用研究”等項目。

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