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为了描述一类特殊的刚性图,给出最优刚性图的概念。在保持队形时,最优刚性图可以减少拓扑图的复杂性。为了最大可能地减少队形通信的复杂性,研究了最优刚性编队的生成理论。首先,提出了4个命题,用以论证基于分布式的最优刚性生成方算法的可行性;其次,基于这些命题,提出了一种多智能体系统的编队算法;最后,通过仿真来验证所提算法的有效性。
In order to describe a special kind of rigid graph, the concept of optimal rigid graph is given. Optimal Rigidity can reduce the complexity of the topology while keeping the formation. In order to reduce the complexity of formation communication to the greatest possible extent, the formation theory of optimal rigid formation is studied. First of all, four propositions are proposed to demonstrate the feasibility of the algorithm based on the distributed optimal optimality generator. Secondly, based on these propositions, a multi-agent system formation algorithm is proposed. Finally, The validity of the proposed algorithm.