[1]李干蓉,杨晓武. 非结构复杂水域下多智能体协同避障污水监控[J].机械与电子,2026,44(01):58-64.
　LI Ganrong,YANG Xiaowu. Collaborative Obstacle Avoidance and Sewage Monitoring of Multiagent in Complex Unstructured Water[J].Machinery & Electronics,2026,44(01):58-64.
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 非结构复杂水域下多智能体协同避障污水监控()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
44
期数:
2026年01期
页码:
58-64
栏目:
机器人技术
出版日期:
2026-01-27

文章信息/Info

Title:
 Collaborative Obstacle Avoidance and Sewage Monitoring of Multiagent in Complex Unstructured Water
文章编号:
1001-2257(2026)01-0058-07
作者:
 李干蓉1; 杨晓武2
 (1.铜仁职业技术大学工学院,贵州 铜仁 554300;2.贵州理工学院人工智能与电气工程学院,贵州 贵阳 550025)
Author(s):
 LI Ganrong1; YANG Xiaowu2
 (1.College of Engineering,Tongren Polytechnic University,Tongren 554300,China;2.College of Artificial Intelligence and Electrical Engineering,Guizhou Institute of Technology,Guiyang 550025,China)
关键词:
多智能体系统; 污水监控; 鲁棒控制; 协同避障
Keywords:
multi agent systems; sewage monitoring; robust control; cooperative obstacle avoidance
分类号:
X853;TP273
文献标志码:
A
摘要:
针对非对称恶劣环境下的水域污水监控问题,提出一种基于多智能体系统的协同避障污水监控方法。该方法利用智能体之间的相对测量信息构建跟踪控制算法。设计基于一阶滤波器的鲁棒控制机制,保证智能体输入信号的平滑性和学习能力,有效解决未知水流和风力扰动问题。鉴于待测水域出现不可攀越的礁石,构建一种协同避障控制策略,保证智能体平滑绕过各类礁石,到达待测污水水域,不出现激烈输入信号。给出所提算法稳定性分析。最后,通过数值仿真结果验证所提算法的可行性。
Abstract:
Addressing the challenges of sewage monitoring in asymmetric and harsh aquatic environments,a collaborative obstacle avoidance sewage monitoring method based on a multi agent system is proposed.This method develops a tracking control algorithm utilizing relative measurement information among agents.A robust control scheme incorporating a first order filter is designed to ensure the smoothness of agent input signals and enhance learning ability,effectively compensating for unknown disturbances from water currents and wind.Considering the presence of non traversable rocky obstacles in the target water area,a collaborative obstacle avoidance control strategy is constructed,enabling the agents to smoothly bypass various obstacles and reach the sewage areas without generating intense control input signals.Stability analysis of the proposed algorithm is also provided.Finally,the feasibility and effectiveness of the proposed algorithm is verified by the results of numerical simulations.

参考文献/References:

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相似文献/References:

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备注/Memo

备注/Memo:
收稿日期:2025-07-24
基金项目:教育部职业院校教育教指委中文专委会 2025年度教育教学改革课题(2025JGYB081);铜仁市新型功能材料产教联合体项目(2222165)
作者简介:李干蓉 (1982-),女,贵州思南人,硕士,副教授,研究方向为环境工程、环境监测与智能环境监控;杨晓武 (1985-),男,贵州凯里人,博士,清华大学访问学者,讲师,研究方向为环境智能监控、多智能体系统协同控制和鲁棒控制,通信作者,E-mail:461829247@qq.com。
更新日期/Last Update: 2026-03-09