Trajectory Planning Of UAV And Consensus Problem Of Multi-agent Systems

In recent years,the unmanned aerial vehicle(UAV)have received much attention mainly owing to its ability to survive and the intelligent of automatic control.It has a low cost and is easy to control,so it shows a greater advantage when facing complex and tedious tasks.However,the UAV subjects to many threats when actual flying,so path planning is the key to complete the task.On the other hand,with more and more complex tasks and changing environment,the capacity to perform tasks of a single UAV is obviously insufficient.It needs multi-UAV to complete the task altogether which one UAV cannot or is difficult to accomplish.In this article,we planned the flight path when the UAV is executing the task,and sought the shortest path from the starting point to the target point firstly.Next,this paper discussed the distributed coordination control problem of multi-agent systems,especially focused on the consensus problem of the heterogeneous multi-agent system.The main contents are as follows:Firstly,based on the propagation characteristics of automatic wave of the Pulse Coupled Neural Network,this paper brings forward an improved pulse coupled neural model.Compared to the traditional model,this model has a simpler structure and faster computational speed.In the network architecture which composed of the improved neurons,each neuron has only local lateral connections with its neighboring neurons and does not connected with the obstacle neurons.By using the proposed algorithm,it can find the shortest path quickly and accurately by rapid parallel computation.By detailed theoretical analysis and simulation,the effectiveness and accurateness of the algorithm can be verified.Secondly,for the consensus problem of heterogeneous multi-agent systems which composed of first-order agents and second-order agents,this paper proposed a fast consensus protocol.In the proposed protocol,the current states information is replaced by the average information of the agents' state in a certain time interval.With a fixed network topology,based on the knowledge of graph theory,matrix principle and the consistency conclusion of first-order multi-agent system,we obtained the sufficient condition which enables the heterogeneous multi-agent system reaches consensus asymptotically.Finally,some simulation results are presented to demonstrate the effectiveness of the theoretical results.Finally,under the network topology of leader-follower,a linear consensus protocol of heterogeneous multi-agent system is proposed.In the case of the leader is a first-order agent,based on the knowledge of graph theory,matrix principle and the consistency conclusion of first-order multi-agent system,we obtained the sufficient condition which enables the leader-follower heterogeneous multi-agent system reaches consensus asymptotically.Finally,some simulation examples demonstrate the effectiveness of the proposed consensus protocol.