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復雜時空約束下的多智能體運動規劃 版權信息
- ISBN：9787121470110
- 條形碼：9787121470110 ; 978-7-121-47011-0
- 裝幀：平塑
- 冊數：暫無
- 重量：暫無
- 所屬分類：>>
復雜時空約束下的多智能體運動規劃 本書特色
本書適合從事智能無人平臺運動規劃研究、開發的技術人員，以及相關專業的高校師生閱讀參考。
復雜時空約束下的多智能體運動規劃 內容簡介
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劃技術，全書共8章：第1～2章闡述了運動規劃的基本概念、相關技術，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章介紹了相關仿真應用案例；第8章對深度強化學習在運動規劃中的應用進行了探索研究。 本書適合從事智能無人平臺運動規劃研究、開發的技術人員，以及相關專業的高校師生閱讀參考。
復雜時空約束下的多智能體運動規劃 目錄
第1 章 智能體運動規劃研究概述·······································································（1）
1.1 研究背景···························································································（1）
1.2 研究現狀···························································································（1）
1.3 研究思路···························································································（8）
第2 章 運動規劃中的智能體多層次行為模型框架設計·········································.（11）
2.1 環境建模方法··················································································.（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 運動規劃方法··················································································.（16）
2.2.1 全局運動規劃········································································.（16）
2.2.2 局部運動規劃········································································.（20）
2.3 智能體多層次行為模型設計································································.（23）
2.3.1 智能體介紹···········································································.（23）
2.3.2 現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劃算法研究··············.（31）
3.1 相關工作························································································.（31）
3.2 層次化運動規劃算法總體思路·····························································.（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 動態障礙情況下的運動路徑重新規劃問題··············································.（43）
3.5.1 運動路徑的重新規劃·······························································.（43）
3.5.2 概率路徑圖的動態更新····························································.（44）
3.6 仿真實驗與結果分析·········································································.（45）
第4 章 多智能體避碰行為研究·······································································.（48）
4.1 相關工作························································································.（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 反應式避碰行為模型·········································································.（52）
4.4 基于*小代價原則的預測式避碰行為模型··············································.（57）
4.4.1 *小代價原則········································································.（57）
4.4.2 基于*小代價原則的預測式避碰行為建模····································.（58）
4.5 仿真實驗與結果分析·········································································.（63）
第5 章 基于增廣物理仿真的運動規劃多任務約束建模分析與優化求解····················.（67）
5.1 相關工作························································································.（67）
5.2 問題描述························································································.（70）
5.3 控制圍欄函數基礎背景知識································································.（70）
5.4 基于控制圍欄函數的多任務約5
1.1 研究背景···························································································（1）
1.2 研究現狀···························································································（1）
1.3 研究思路···························································································（8）
第2 章 運動規劃中的智能體多層次行為模型框架設計·········································.（11）
2.1 環境建模方法··················································································.（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 運動規劃方法··················································································.（16）
2.2.1 全局運動規劃········································································.（16）
2.2.2 局部運動規劃········································································.（20）
2.3 智能體多層次行為模型設計································································.（23）
2.3.1 智能體介紹···········································································.（23）
2.3.2 現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劃算法研究··············.（31）
3.1 相關工作························································································.（31）
3.2 層次化運動規劃算法總體思路·····························································.（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 動態障礙情況下的運動路徑重新規劃問題··············································.（43）
3.5.1 運動路徑的重新規劃·······························································.（43）
3.5.2 概率路徑圖的動態更新····························································.（44）
3.6 仿真實驗與結果分析·········································································.（45）
第4 章 多智能體避碰行為研究·······································································.（48）
4.1 相關工作························································································.（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 反應式避碰行為模型·········································································.（52）
4.4 基于*小代價原則的預測式避碰行為模型··············································.（57）
4.4.1 *小代價原則········································································.（57）
4.4.2 基于*小代價原則的預測式避碰行為建模····································.（58）
4.5 仿真實驗與結果分析·········································································.（63）
第5 章 基于增廣物理仿真的運動規劃多任務約束建模分析與優化求解····················.（67）
5.1 相關工作························································································.（67）
5.2 問題描述························································································.（70）
5.3 控制圍欄函數基礎背景知識································································.（70）
5.4 基于控制圍欄函數的多任務約5
展開全部
復雜時空約束下的多智能體運動規劃 作者簡介
李石磊，海軍工程大學信息安全系講師、中國仿真學會仿真技術應用專業委員會委員。主要從事復雜系統建模與仿真、信息安全技術研究與教學，主持了國家自然科學基金青年項目“物理仿真虛擬人運動控制技術研究”、博士后基金項目“復雜動態場景多智能體運動規劃技術”，參與了國家自然科學基金面上項目“數據和模型混合驅動的虛擬人群仿真及其在軍事中的應用研究”等項目。
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