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论文:2017,Vol:35,Issue(1):50-58 |
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引用本文： |
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陈旿, 李胆胆, 左颖, 高小杰, 洪亮, 李建涛, 石磊. 一种基于马尔可夫随机场的多无人航行体的协同一致性算法[J]. 西北工业大学学报 |
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Chen Wu, Li Dandan, Zuo Ying, Gao Xiaojie, Hong Liang, Li Jiantao, Shi Lei. A Collaborative Consensus Algorithm for Multiple Unmanned Vehicles Based on Markov Random Field[J]. Northwestern polytechnical university |
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| 一种基于马尔可夫随机场的多无人航行体的协同一致性算法 |
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| 陈旿, 李胆胆, 左颖, 高小杰, 洪亮, 李建涛, 石磊 |
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| 西北工业大学 自动化学院, 陕西 西安 710072 |
| 摘要: |
| 在多无人航行体协同作战中，协作信息的一致性是保障协同作战任务有效执行的关键。首先对多无人航行体协同任务进行描述，然后建立了多无人航行体网络通信模型，并提出了基于马尔可夫随机场的分布一致性算法。该算法引入邻居系统，基于马尔科夫随机场场理论，通过邻居之间的协作信息的交互产生全网参考基准；将节点之间的协作偏差映射为团势能，在此基础上建立了基于伊辛模型的能量函数；最后，采用并行能量最小化的方法实现全网一致性。仿真结果表明所提出的解决方案可以实现多无人航行体的协同一致性，并且具有低开销、快速收敛、健壮、可扩展的特点。 |
| 关键词:
马尔科夫随机场
伊辛模型
一致性
随机模型
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| A Collaborative Consensus Algorithm for Multiple Unmanned Vehicles Based on Markov Random Field |
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| Chen Wu, Li Dandan, Zuo Ying, Gao Xiaojie, Hong Liang, Li Jiantao, Shi Lei |
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| School of Automation, Northwestern Polytechnical University, Xi'an 710072, China |
| Abstract: |
| For multiple unmanned vehicles cooperative combat mission, the collaborative information consensus is the key of the effective implementation of cooperative combat mission. In this paper, firstly, the collaborative task of multiple unmanned vehicles is described.Then,a multiple unmanned vehicles network communication model is established,and a distributed collaborative consensus algorithm based on markov random field is proposed. Neighbor system is given in this algorithm,and a global network reference is gotten by the exchange of collaborative information of neighbor nodes using markov random field theory. An energy function of Ising model is established by mapping collaborative offset to clique potential. Finally, a parallel energy minimization is adopted to achieve global network consensus.The simulation and experiment result shows that the proposed solution can obtain the collaborative consensus of multiple unmanned vehicles and has the virtue of low overhead, fast convergence, robustness and scalability. |
| Key words:
markov random field
Ising model
consensus
stochastic model
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| 收稿日期: 2016-05-05
修回日期:
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| DOI: |
| 通讯作者:
Email： |
| 作者简介: 陈旿(1971-),西北工业大学副教授,主要从事自组织网络及网络安全研究。
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| 作者相关文章 |
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| 陈旿 在本刊中的所有文章 |
| 李胆胆 在本刊中的所有文章 |
| 左颖 在本刊中的所有文章 |
| 高小杰 在本刊中的所有文章 |
| 洪亮 在本刊中的所有文章 |
| 李建涛 在本刊中的所有文章 |
| 石磊 在本刊中的所有文章 |
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