基于Leader-Follower的分队队形控制寻径算法研究

Research on team formation control path finding algorithm based on Leader-Follower

在战场环境中,战术分队的队形在面对复杂静态或动态障碍物时难以较好地保持,针对此问题,提出了基于Leader-Follower算法的改进队形控制方法。在leader寻径阶段,通过在战场导航网格中应用两阶段路径搜索方法,先使用A*算法寻找由三角形通道和可利用地物组成的路径,再使用改进的Funnel算法在考虑队形规模的约束条件下对路径作平滑处理。在follower跟随阶段中,通过采用morphing技术,产生在复杂障碍约束下平滑的中间约束队形序列,并结合提出的队形弹簧模型,局部修正并控制follower每一时刻的速度。为解决面对动态障碍的避碰问题,基于相对速度障碍法,并加入速度协同控制,避免队形在避碰过程中失效。最后通过实验表明了该方法的有效性。

In the battlefield environment,the tactical unit formation is difficult to maintain when facing complex static or dynamic obstacles. For this problem,this paper proposed an improved formation control method based on leader-Follower algorithm. In the Leader routing stage,by applying the two-stage path search method in the battlefield navigation mesh,this paper used the A＊algorithm to find the path composed of the triangular channel and the available objects,and then used the improved Funnel algorithm to smooth the path under the constraints of the scale of unit. In the follower following stage,this paper used morphing technique to produce smooth intermediate constraint formation sequences under complex barrier constraints and combined the proposed formation spring model to locally correct and controled the speed of each follower. In order to solve the problem of collision avoidance in the face of dynamic obstacle,this paper used reciprocal velocity obstacle method,which joined the speed co-control,to avoid the formation failure in the collision avoidance process. Finally,this paper proved the effectiveness of the method by experiments.