Design And Application Of Multi-agent Cooperative Control System

The Intelligent Transportation System(ITS)is focused on solving the traffic problems of task scheduling and resource allocation in recent years.It uses advanced wireless communication technology,electronic sensor,control technology and computer networks to realize an integrated transportation management platform among vehicles,roads and the could.Vehicular Cyber Physical System(VCPS)is a solution for ITS application,which is a multi-agent architecture by using Multi-Sensor Information Fusion(MSIF)Technology for vehicles intelligent services.It uses variety of agent as for the fundamental physical units to realize vehicle-to-vehicle(V2V),vehicle-to-road(V2R),vehicle-to-cloud(V2C)information sharing by collecting the data of surrounding environment for intelligent interactive services,thus resolving various traffic problems effectively in ITS.It is necessary to effectively solve the coordination and interaction issues such as resource allocation,behavior coordination,conflict elimination in the complex and changeable dynamic environment of ITS.However,Multi-Agent System(MAS)can effectively solve the problems of cooperation,coordination and collaboration of independent agent.Based on the collaborative communication and cooperative control of multi-agent,the article designs the multi-agent cooperation system for the prototypes of ITS application.Not only the system can validate the key technologies such as collaborative communicate and cooperative control,but also have referential and practicability for application research of ITS.The main research works are as follows:(1)The design of the multi-agent cooperative control system architecture.The architecture of system is based on the open space integration.Among,the low-level physical layer mainly realizes the multi-agent vehicles driving free and intersection coordinative in the traffic environment of simulation.The middle network layer mainly realizes the mobile data transmission and multi-vehicle collaborative communication.The Human Machine Interface(HMI)communication center of top layer mainly realizes decision control,and real-time monitoring display the by Unmanned Aerial Vehicle(UAV)and the traffic cameras.(2)The design of the multi-agent collaborative communication network.The collaborative communication network that based on ZigBee self-organizing network technology realizes information interaction between V2 V,V2R and V2 C.At the same time,the network can collaborative communication and cooperation control between the multi-agents.The network shares information between the multi-agent and the HMI communication center by the multi-mode communication gateway WiFi+ZigBee.(3)The design of multi-agent cooperative control algorithm.The algorithm which using the RFID positioning and coordination of note Road Side Unit(RSU)virtual traffic lights realizes the multi-agent nodes intersection coordinative in the traffic environment of simulation.The HMI communication center can control the UAV by the Wi Fi communication protocol.(4)The design of HMI communication center system.The HMI communication center which use the collaborative communication can real-time monitor the multi-agent node formations that include the location,traveling status,security status.It is also real-time monitor display the whole simulation of traffic situation by the UAV in the air.