Research On Encirclement Tracking And Monitoring Of Radiation Sources By Multi-Agent System

In recent years,multi-agent systems have developed rapidly and have been widely used in various aspects.This paper mainly studies the tracking and monitoring of radiation sources by using multi-agent systems.In the third chapter,the encirclement tracking problem of the mobile radioactive radiation source is studied.Three different distributed estimators are designed to estimate the geometric center,encirclement radius and polar angle of the mobile radiation source respectively.Finally,the estimated value obtained is to design a distributed control protocol for agents.Driven by the control protocol,each agent can enclose all the mobile radiation sources in the surrounding circle within a finite-time,and achieve uniform distribution.Finally,the effectiveness of the control scheme is verified by MATLAB simulation.In the fourth chapter,the encirclement monitoring problem of multi-agent system under stochastic noise interference is discussed,mainly considering the use of multi-agent system for real-time monitoring of a group of generators in damaged nuclear power plants to understand the leakage situation.At the same time,the agent is divided into two types: leader and follower.Only the leader can obtain global information,and the follower needs to obtain information from the leader.Similar to Chapter 3,stochastic estimators are designed for the leader and the follower respectively,and the control protocol is designed using the obtained estimated values.Using the Lyapunov function,it can be proved that the agent will complete the control task in finite-time.The simulation verifies the feasibility of the scheme.