鸽群交互模式切换模型及其同步性分析  

Pigeon flock interaction pattern switching model and its synchronization analysis

作　　者：邱华鑫 段海滨[1,3] 范彦铭 邓亦敏[1] 魏晨[1] QIU Huaxin;DUAN Haibin;FAN Yanming;DENG Yimin;WEI Chen(School of Automation Science and Electrical Engineering,Beihang University,Beijing 100083,China;QIAN Xuesen Laboratory of Space Technology,China Academy of Space Technology,Beijing 100094,China;Peng Cheng Laboratory,Shenzhen 518000,China;Shenyang Aircraft Design and Research Institute,Aviation Industry Corporation of China,Shenyang 110035,China)

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100083 [2]中国空间技术研究院钱学森空间技术实验室,北京100094 [3]鹏城实验室,深圳518000 [4]中国航空工业集团公司沈阳飞机设计研究所,辽宁沈阳110035

出　　处：《智能系统学报》2020年第2期334-343,共10页CAAI Transactions on Intelligent Systems

基　　金：国家杰出青年科学基金项目(61425008);国家自然科学基金项目(61803011,91948204);中国博士后科学基金资助项目。

摘　　要：以原鸽为研究对象,归纳出其群体归巢机制中的双模式决策原则、模式切换原则与优势个体原则。模拟双模式决策原则设定双模式邻居集合与对齐权重,模拟模式切换原则设定基于群体轨迹曲率的切换规则,模拟优势个体原则设定高层级个体集合,进而建立鸽群交互模式切换模型。基于LaSalle不变集理论给出鸽群系统以无碰撞、同步编队抵近目标的条件。采用蒙特卡罗仿真分析不同参数对模型特性的影响,即不同个体数目、高层级个体数目以及最大速率均可保证模型的同步性。Taking Columba livia as the research object, we summarized the dual-mode decision-making, mode-switching, and dominant individual principles in the homing mechanism of pigeons to establish a pigeon flock interaction pattern switching model. In the model, the neighbor set and alignment weight in dual mode were set by mimicking the dualmode decision-making principle, the switching rule based on the curvature of the group trajectory was set by mimicking the mode-switching principle, and the collection of higher-rank individuals was set by mimicking the dominant individual principle. On the basis of LaSalle’s invariant set theory, the conditions under which the pigeon flock can approach the target with collision-free and synchronous formations are given. Monte Carlo simulation was used to analyze the influence of different parameters on the model characteristics. Results show that the synchronization of the model can be ensured by setting the appropriate number of individuals, number of higher-rank individuals, and maximum velocity.

关 键 词：鸽群 群体智能 群集运动 异构群体 层级交互模式 平等交互模式 交互模式切换 同步性 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] V249.122[自动化与计算机技术—控制科学与工程]