多智能体环境设计（三）

多智能体环境设计：高级主题与实践应用

引言

欢迎来到我们多智能体环境系列的第三篇博客！在前两篇文章中，我们介绍了基础概念和接口设计。今天，我们将深入探讨多智能体环境的高级主题，包括复杂场景设计、智能体交互机制、环境动态性，以及一些实际应用案例。本文旨在帮助初学者更好地理解和应用多智能体环境技术。

1. 复杂场景设计

在实际应用中，多智能体环境通常比简单的网格世界更加复杂。让我们看看如何设计一些更加真实的场景。

1.1 异构智能体环境

在许多实际情况下，环境中的智能体可能具有不同的能力和特征。让我们设计一个包含不同类型机器人的仓库环境：

import numpy as np
from gymnasium import spaces
from pettingzoo import AECEnv
from pettingzoo.utils import agent_selector

class HeterogeneousWarehouseEnv(AECEnv):
    def __init__(self, grid_size=20, n_carriers=3, n_sorters=2, n_shelves=30):
        super().__init__()
        self.grid_size = grid_size
        self.grid = np.zeros((grid_size, grid_size), dtype=int)
        
        self.possible_agents = ([f"carrier_{
     i}" for i in range(n_carriers)] + 
                                [f"sorter_{
     i}" for i in range(n_sorters)])
        self.agent_types = {
   agent: agent.split('_')[0] for agent in self.possible_agents}
        
        self.shelves = self._place_shelves(n_shelves)
        self.sorting_stations = self._place_sorting_stations(n_sorters)
        
        self.action_spaces = {
   agent: spaces.Discrete(5) for agent in self.possible_agents}  # 4个方向 + 停留
        self.observation_spaces = {
   agent: self._get_obs_space() for agent in self.possible_agents}

    def _place_shelves(self, n_shelves):
        shelves = []
        for _ in range(n_shelves):
            pos = self._get_random_empty_position()
            self.grid[pos] = 2  # 2 表示货架
            shelves.append(pos)
        return shelves

    def _place_sorting_stations(self, n_stations):
        stations = []
        for _ in range(n_stations):
            pos = self._get_random_empty_position()
            self.grid[pos] = 3  # 3 表示分拣站
            stations.append(pos)
        return stations

    def _get_obs_space(self):
        return spaces.Dict({
   
            "position": spaces.Box(low=0, high=self.grid_size-1, shape=(2,), dtype=int),
            "grid": spaces.Box(low=0, high=3, shape=(self.grid_size, self.grid_size), dtype=int),
            "carrier_positions": spaces.Dict({
   agent: spaces.Box(low=0, high=self.grid_size-1, shape=(2,), dtype=int) 
                                              for agent in self.possible_agents if 'carrier' in agent}),
            "sorter_positions": spaces.Dict({
   agent: spaces.Box(low=0, high=self.grid_size-1, shape=(2,), dtype=int) 
                                             for agent in self.possible_agents if 'sorter' in agent}),
            "carrying_item": spaces.Discrete(2)  # 0: 没有携带物品, 1: 携带物品
        })

    def reset(self, seed=None, options=None):
        self.agents = self.possible_agents[:]
        self.agent_positions = {
   agent: self._get_random_empty_position() for agent in self.agents}
        self.carrying_items = {
   agent: 0 for agent in self.agents if 'carrier' in agent}
        
        self.agent_selector = agent_selector(self.agents)
        self.agent_selection = self.agent_selector.next()

        observations = {
   agent: self._get_obs(agent) for agent in self.agents}
        return observations, {
   }

    def step(self, action):
        agent = self.agent_selection
        current_pos = self.agent_positions[agent]
        new_pos = self._get_new_position(current_pos, action)

        if self._is_valid_move(agent, new_pos):
            self.agent_positions[agent] = new_pos

        # 处理特定类型智能体的行为
        if self.agent_types[agent]