一种改进的多智能体碰撞避免行为  

An improved collision avoidance behavior of multiple agents

作　　者：李猛[1] 梁加红[1] 李石磊[2] 

机构地区：[1]国防科技大学机电工程与自动化学院,湖南长沙410073 [2]海军工程大学信息安全系,湖北武汉430033

出　　处：《国防科技大学学报》2013年第3期92-98,共7页Journal of National University of Defense Technology

基　　金：国家自然科学基金资助项目(61170160)

摘　　要：针对目前碰撞避免行为缺乏真实性和通用性的问题,本文提出一种改进的多智能体碰撞避免行为生成方法。通过引入角色参数和个性参数,使得智能体能够根据自身的属性调整避碰行为。改进的多智能体碰撞避免行为把碰撞避免行为与真实人的属性相联系,可以保持智能体前后运动的一致性和平滑性。因此,更符合真实人的碰撞避免行为特性,具有更强的"类人性"和通用性。仿真结果表明,加入了真实人属性的改进方法产生的避碰行为能有效地应用于具有多样化属性的虚拟人群行为仿真、多机器人系统和多智能体领域中。An improved collision avoidance behavior of multi-agents was presented due to the fact that the existing methods do not comform to the reality and are devoid of universality.By introducing the role and personality parameters,the agents adjust their collision avoidance behaviors.The improved method constructs a link between collision avoidance behaviors and the attributes of real humans.In this way,the consistency and smoothness of humans＇ motion is retained.So it fits in with the real humans＇ collision avoidance behavior more tightly.Also it is more hominine and universal than the existing methods.Simulation tests show that the improved collision avoidance behavior accords with the characteristics of the real people.So it can be used in virtual crowd simulation,multi-robot system and multi-agent system more efficiently.

关 键 词：多智能体系统 碰撞避免行为 速度障碍 最优互惠碰撞避免速度 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]