基于改进分配法的多智能体队形形成

Formation of multi-agent based on improved distribution algorithm

多机器人是当今研究热点,机器人编队是多机器人的一个重要问题,编队行为在自然界中广泛存在,大雁、鱼群的有秩序的聚集并编队运动启示编队运动具有重要的意义和作用。文章针对多机器人队形问题,提出了一个基于多智能体(multi-agent)结构的优化算法,多智能体的体系结构具有良好的自适应特点,适合运用到多机器人控制中,对于队形形成问题,改进分配算法具有良好的特性。

Multi-robot is the focus of present research. Robot formation is of importance in multi-robot research. Formation exists widely in nature, and the orderly aggregation and formation movement of geese and fish shows the great significance and effect of formation. Aiming at the formation of muhi- robot, an improved algorithm based on the multi-agent structure is put forward. The structure of multi-agent has good adaptive characteristic, which is suitable for the muhi-robot control. The im- proved distribution algorithm has good characleristic for formation.