障碍环境下具有多领导者的组行为生成方法  

Flocking behavior method with multiple leaders in obstacle environment

作　　者：李猛[1] 梁加红[1] 

机构地区：[1]国防科技大学信息系统与管理学院,湖南长沙410073

出　　处：《国防科技大学学报》2013年第6期177-184,共8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：针对由多个领导智能体和多个跟随智能体组成的多智能体组,提出一种障碍环境下具有多领导者的组行为生成方法。该方法属于分布式控制方法,其利用组中的领导智能体控制跟随智能体,使得跟随智能体的中心和速度分别指数收敛于组中所有领导智能体的加权位置中心和加权平均速度,且每个领导智能体权重的大小取决于其所带领的跟随智能体的数目。另外,该方法通过在障碍的边缘引入虚拟的"β-智能体",使组中的个体具有与环境中的静态和动态障碍避碰的能力,最终生成真实的障碍空间中具有多领导者的组行为。最后以虚拟人智能体组为载体进行仿真实验,验证了该方法的有效性。Aiming at the agents group composed of multiple leader agents and multiple follower ones, a flocking behavior method with muhiple leaders in obstacle environment is proposed. As a distributed control method, it controlled the follower agents with the leader agents of the group. Simultaneously, the center and average velocity of the follower agents exponentially was converged to the weighted average position and the velocity of the leader agents respectively. And the weight was dependent on the number of follower agents which were led by the leader agents. Moreover, by introducing a class of agents which are denoted as ＂~ - agent＂ at the border of the obstacles, the follower agents possessed the capacity of avoiding collision with the static and dynamic obstacles. In this way, believable flocking behavior with multiple leaders in obstacle environment was generated. Simulation results with virtual humans being the members of the group demonstrate the effectiveness of the proposed method.

关 键 词：多智能体系统 多智能体群集 组行为 分布式控制 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]