基于流体模型的多智能体分组避障方法

Multi-Agent Group Obstacle Avoidance Method Based on Fluid Model

针对群体自主选择避障路径和效率优化问题,结合多领导者分组领导的群体运动框架,设计了基于流体模型的群体避障方法。分析了群体最终运动的稳定性,并在Matlab环境下仿真测试了群体通过具有通道障碍区域的避障效率,对比仅依靠人工势函数进行避障的群体避障效率和群体避障轨迹等实验结果,发现基于流体模型的群体避障方法具有更高的避障效率,且分组领导的方式使群体更具有灵活性。

Aiming at the problem of group self-selection obstacle avoidance path and efficiency optimization,combined with the group movement framework led by multi-leader grouping,a fluid model based obstacle avoidance method was designed.The stability of the final motion of the group was discussed and analyzed.The obstacle avoidance efficiency of the group with multi-channel obstacle area was simulated and tested in Matlab environment.By comparing the group obstacle avoidance efficiency and group obstacle avoidance trajectory based on artificial potential function and other experimental results,it is found that the group obstacle avoidance method based on fluid model has higher obstacle avoidance efficiency and the group leadership method makes the group more flexible.