规则空间下基于MRFC-Vicsek模型的集群控制

Cluster Control Based on MRFC-Vicsek Model in Rule Space

针对规则空间下集群运动问题,开展了基于多区域模糊控制(MRFC)-Vicsek模型的集群控制方法的研究。考虑到仿生集群在运动时的行为准则,首先建立了包括避碰层、一致层、内聚层、连通层在内的多区域Vicsek模型。其次,通过模糊规则将不同区域个体数量和集群拥挤程度转化为对中心个体的影响权重,再结合规则空间内边界对个体的影响范围提出了初始状态随机的规则空间内集群控制方法。最后,进行了集群成员不同数量的仿真实验,并通过邻域指数、个体认可度、速度序参量等指标证明了方法的有效性,在规则空间下集群状态具有良好的收敛性和集群稳定性。

In order to solve the problem of cluster motion in regular space,a cluster control method based on MRFC-VICSEK model is studied in this paper.Considering the behavior rules of the bionic cluster in motion,the Vicsek model of multi-region fuzzy control,including collision avoidance layer,consistent layer,cohesive layer and connected layer,is firstly established.Secondly,the number of individuals in different regions and the degree of cluster crowding were transformed into the influence weight of central individuals through fuzzy rules.Then,combining with the influence range of individuals within the boundary of the rule space,the control method of the cluster in the rule space with random initial state was proposed.Finally,simulation experiments with different number of cluster members are carried out,and the effectiveness of the proposed method is proved by neighborhood index,individual recognition,velocity order parameter and other indicators,and the cluster state has good convergence and cluster stability in regular space.