基于改进的跟随领航者与人工势场的CGF队形控制及避障  

CGF Formation Control and Obstacle Avoidance Based on Improved Leader-Follower and Artificial Potential Field

作　　者：乔勇军 王思卿 QIAO Yongjun;WANG Siqing(Naval Aeronautic University,Yantai 264001)

机构地区：[1]海军航空大学,烟台264001

出　　处：《舰船电子工程》2018年第12期48-51,共4页Ship Electronic Engineering

基　　金：国家自然科学基金项目(编号:60874112);军队科研专项(编号:41512322)资助

摘　　要：为解决模拟战场环境中CGF(计算机兵力生成)编队在机动过程中避障、避碰、到达目标点的问题,结合基于行为法的思想,将跟随领航者算法进行改进,以对CGF编队实施控制。将CGF编队的整个机动行为分解为向目标进发、保持队形、避开障碍,恢复队形、到达目标点等部分,并引入虚拟领航者解决领航者自身在发生故障后整个机动团体无法继续作战任务的问题,最后采用人工势场法进行避障。仿真实验结果表明该策略能使CGF编队保持所期望的队形,在顺利避开障碍物的同时避免内部碰撞,并在避障后迅速恢复队形,到达目标点。To solve the problem of avoiding obstacles,avoiding collisions and reaching the target of the formation in the battlefield environment,this article uses the algorithm of Leader-Follower to control the formation,combines the method based on behavior to optimize it.The whole maneuver behavior into movement is decomposed towards the target,maintaining,avoiding obstacles.It can solve the problem that the entire formation cannot continue the combat mission after the leader fails by introducing the virtual leader,and use artificial potential field method to avoid obstacles.The experimental results show that this strategy can make the formation smoothly avoid the obstacles,avoid internal collisions,resume the formation after avoiding obstacles and reach the target.

关 键 词：计算机兵力生成 队形控制 避障 

分 类 号：G831.4[文化科学—体育训练]