摘要
为了解决多领导者蜂拥控制系统中不具有目标引导信息的智能体目标跟踪丢失的问题,优化跟踪结果,提出了基于连通分支的多领导者蜂拥控制算法。通过连通分支使智能体能够获得分支内其他智能体位置和速度,得到位置和速度质心作为内聚项,加强其跟踪能力。仿真验证表明:与传统的蜂拥控制算法相比,该算法能够加强智能体的跟踪能力,能够更快地跟踪上目标,适用于多个领导者的多智能体蜂拥控制系统中。
In order to solve the problem that many leaders flocking control system don’t have the intelligence that target tracking target guide information leakage problems,the tracking results are optimized,puts forward the flocking control algorithm based on connected component leader is put forward.By connecting the branches,the intelligent body can obtain the position and speed of other intelligent bodies in the branches,and obtain the position and velocity center as the cohesion term to enhance its tracking ability.Simulation shows that compared with traditional flocking control algorithm,this algorithm can strengthen the tracking ability of the agent,can track the target faster,and is suitable for multi-agent flocking control system with multiple leaders.
作者
丛凯
张金春
卢翰
CONG Kai;ZHANG Jinchun;LU Han(Naval Aeronautical University,Yantai 264001)
出处
《舰船电子工程》
2019年第4期22-28,116,共8页
Ship Electronic Engineering
关键词
多领导者
蜂拥控制
连通分支
跟踪
multi-leader
flocking control
connected components
tracking
