特征个体有界交互作用构成的集群模型

Swarm composed through bounded interactions of characteristic individuals

研究了个体与其吸引域内特征个体有界吸引力作用所构成集群模型的位置一致性问题,特征个体定义为吸引域或排斥域内对个体运动起主导作用的个体.期间的交互作用的有界性符合实际物理个体间交互作用的物理意义.随后进一步研究了增加个体与其排斥域内特征个体有界排斥力作用下的集群行为,特征个体的有界排斥力作用可避免个体位置重合,能够保证各个个体位置的独立性,可满足实际多智能体系统应用中的避碰要求,仿真结果表明,在群体初始分布满足任意两个体之间存在可观测链的条件时,群体系统在特征个体有界交互作用下能够实现稳定收敛的集群行为.

We investigate the position-consensus problem of a swarm composed through bounded interactions between characteristic individuals within their attractive regions. The characteristic individuals are defined as the individuals having decisive effects on the motions of other individuals in the attractive and repulsive regions; the interactions among which are rationally assumed to be bounded as for other physical agents. Next, we consider the swarming behavior of a newly added individual under the interactions from neighboring characteristic individuals. The bounded repulsions from characteristic individuals can avoid the position-coincidence and the motion-collision for the added individual, ensuring its independence as in other real multi-agent system. Simulation results show that the stable and convergent swarming behavior is achieved as long as there is a mutual observable chain between any two individuals in the initial swarm distribution.