CGF队形形成及避障行为研究

Research on formation form and obstacle avoidance of CGF groups

计算机生成兵力(CGF)在模拟战术级兵力仿真时,多个兵力实体要按照一定的队形行进。首先对基本队形的分布式控制方法进行分析;然后,将leader-follower算法思想应用其中,简化了算法模型;其次,为了满足底层仿真的需要,对兵力实体的避障行为进行了研究,引入了切线避障法。增加follower与leader之间的距离对leader速度的反馈,在follower避障过程中,动态地改变leader的速度,避免掉队现象。实验表明,该方法能很好地适用于底层战术级仿真模型。

When using CGF to simulate the tactical level simulation of forces,forces entity must form a desired formation to move in most cases.For this case,this paper analysed a decentralized approach first.And on this basis,it used leader-follower approach,that simplified the algorithm model.Second,in order to satisfy the simulation of bottom forces,it needed to design a method of obstacle avoidance.Here it used tangential line to avoid the obstacle.As for the improvement,the feedback to the leader＇s velocity,which came from the distance between the follower and the leader,was added to the model.When the follower was avoiding obstacles,the velocity of the leader would be changed dynamicly.The phenomenon of straggling has been avoided.The experiment indicates that this model can be appropriate for the model of bottom tactical level simulation of forces well.