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摘要
To improve the coverage efficiency of mobile agents, the related information of the agents is generally required partially or completely during the coverage control process, which may lead to a dramatic control cost and energy consumption increase. How to balance the improvement in coverage rate and the reduction of control cost is an important issue in the coverage control area of mobile agents. This paper addresses the dynamic cooperative game coverage control algorithm design problem of a multi-agent system under an incomplete information condition. First, by separating the moving multi-agent system into several subgroups, where each agent can only obtain the position information of the neighbor agents, the coverage control problem of the moving multi-agent system is transformed into a dynamic cooperative game coverage problem of moving multi-groups under incomplete information conditions. Then, the cooperative game rules of the subgroups are presented, and a virtual repulsive force-based dynamic coverage game decision strategy of the agent system is developed to compute the new candidate positions of the agents. Third, the moving multi-agent system is considered a rigid virtual structure, and the coverage control problem of the system is turned into a new one with the virtual structure as a reference frame. Thus, the displacement path planning design of the coverage control for a multi-agent system is simplified. Simulation results reveal that the dynamic cooperative game coverage algorithm based on the virtual repulsive force can effectively realize the coverage control requirement of the moving agent system under the incomplete information condition and can remarkably reduce the cost of coverage control. In addition, compared with several existing coverage algorithms, using the dynamic cooperative game coverage algorithm proposed in this paper requires fewer moving times of agents while obtaining a higher coverage rate.
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