基于包围圆的多智能体绕行算法研究  

Research on a Circumambulation Algorithm for Bounding Circles-based Agents

作　　者：李林钢[1] 冯开平[1] 

机构地区：[1]广东工业大学机电工程学院,广东广州510006

出　　处：《五邑大学学报（自然科学版）》2016年第1期24-28,58,共6页Journal of Wuyi University(Natural Science Edition)

基　　金：广东省自然科学基金博士启动项目(10451009001004484);广东省自然科学基金资助项目(2015A030310112);国家863计划项目(2013AA031301)

摘　　要：探讨了基于包围圆的多智能体碰撞检测和绕行算法.在绕行中避免智能体重叠方面,依据两圆之间位置关系与接近和远离的检测,提出了改进的前向预防碰撞检测方法,提升了数值健壮性.在智能体间的绕行方面,提出了在总体时间复杂度为O(n2)时,对单个智能体和多个智能体的绕行算法,以及对多智能体的提前绕行算法.实验结果表明,在总体接近目标的效果方面,多智能体绕行算法优于单智能体绕行算法,多智能体提前绕行算法优于其不提前绕行算法.This paper discusses collision detection algorithms and circumambulation algorithms for agents based on bounding circles. To avoid overlaps during circumambulating and improve the numerical robustness, we put forward the improved forward collision prevention method based on the position relationship between two circles and the detection of their going nearer to or away from each other. In terms of circumambulation of intelligent agents, we propose algorithms of circumambulating based on single agents and on multiple agents within the total time complexity at O（n^2） and the advance detour algorithm for multiple intelligent agents. The experimental results show that in the general effect of going close to the target, the multi agent algorithm is superior to the single agent circumambulation algorithm and the multi agent advance algorithm excels the non-advance circumambulation algorithm.

关 键 词：多智能体 包围圆 碰撞检测 绕行算法 

分 类 号：TP311.1[自动化与计算机技术—计算机软件与理论]