基于点状β智能体的飞行器集群避障控制方法

Evading Control Method for Flock of Aircraft Based on Dot-like β Agent

针对传统的飞行器集群避障方法不能有效规避非规则障碍物的问题,提出一种基于点状β智能体的集群避障控制方法。在加速度输入的基础上,基于β智能体概念定义点状β智能体,将α智能体对其在障碍物表面投影的规避变为对点状β智能体的规避,调整个体加速度输入中(α,β)协议量的β智能体的坐标和相关向量,使多智能体面向非规则障碍物形成集群。仿真结果表明,该方法能实现集群对非规则障碍物的规避。

As to the inefficiency of evading irregular obstacle in traditional aircraft evading strategies,a flock control strategy based on dot-like β Agent is studied.On the base of accelerator input,the dot-like β Agent is defined based on the notion of β Agent,along with which the avoidance of α Agent’s own projection on the obstacle is transferred into avoiding the dot-like β Agent as assumed,and the coordinate of β Agent together with relative vectors in the（α,β） protocol input of the accelerator is modulated.After that,the multi-Agent is able to shape flock in case of irregular obstacles.Simulation result shows that an algorithm under the model of dot-like β Agent is to render effective evading in case of irregular obstacles.