基于位置信息的混合多智能体蜂拥控制方法

Flocking Control Method of Hybrid Multi-agents Based on Position Information

目前,很多蜂拥控制算法都是基于智能体通信半径为一个固定的值且既考虑多智能体之间的相对位置,又考虑它们的相对速度来设计的,然而,实际的情况往往不会有那么理想。文中试图在基于通信半径不同的混合多智能体控制策略的设计过程中减少考虑的控制因素的个数(只考虑位置信息),提出一种分布式的控制算法。此控制算法能实现多智能体跟随一个速度固定的虚拟领航者,形成聚合、无碰撞的队列。给出了算法的可行性理论分析,并针对20个智能体跟踪一个速度固定的虚拟领导者的情形给出了计算机仿真,用以验证算法的可行性。

At present,many flocking control algorithms are based on agent communication radius for a fixed value and both considering the relative position between the agents, and their relative speed to design, however, the actual situation there won＇ t be so ideal. Attemp- ting to reduce the control factors considered in the design process of control strategy for multi-agents mixed with different communication radius （only considering position information） ,put forward a distributed control algorithm. This control algorithm can achieve multi-a- gents follow a speed fixed virtual leader to form a cohesion, no collision queue. Provide the theoretical analysis of feasibility, and give the computer simulation in the light of twenty agents tracking a speed fixed virtual leader situation to verify the feasibility of the algorithm.