一致环境下多智能体系统的群集算法  

Research on flocking algorithm of multi-agent systems in uniform environment

作　　者：陈炎财[1] 杨忠[1] 李少斌[1] 杨成顺[1] 张海黎 

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016 [2]驻南京地区军事代表室,江苏南京210016

出　　处：《应用科技》2011年第5期52-55,共4页Applied Science and Technology

基　　金：国家自然科学基金资助项目(60674100)

摘　　要：针对一致环境下智能群体的群集运动控制算法进行了研究.在群中智能体感知范围有限的情况下,群体拓扑图是动态变化的,假设群体拓扑图时刻保持连通,且群中所有智能体受到外界环境的影响是一致的,通过引入光滑的势场函数,设计了群集控制算法,运用李雅普诺夫稳定性理论,证明了多智能体能取得群集运动,仿真实例验证了算法的有效性.The multi-agent flocking motion control algorithm in uniform environment is studied.Under the circumstances that the multi-agent system could only sense a limited range,the topology graph of swarm is dynamically changing during the swarm＇s motion.Given that the multi-agent topology graphs are connected at every moment and every agent is influenced uniformly by exterior environment,the flocking control algorithm is designed by introducing smooth potential function.The application of Lyapunov stability theory proved that the multi-agent may have flocking movement.Finally,simulation examples were given to verify the results.

关 键 词：多智能体系统 群集 动态拓扑结构 一致环境 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]