带有虚拟领导的多智能体系统的渐近集群与避障  

Asymptotic Flocking and Obstacle Avoidance of Multi-agent Systems with a Virtual Leader

作　　者：刘泽 刘易成[1] LIU Ze;LIU Yicheng(Department of Mathematics,National University of Defense Technology,Changsha 410073,China)

机构地区：[1]国防科技大学数学系,湖南长沙410073

出　　处：《应用数学》2024年第2期411-422,共12页Mathematica Applicata

基　　金：Supported by the Natural Science Foundation of Hunan Province;China(2022JJ30655)。

摘　　要：本文主要研究多智能体系统的避障和集群问题.许多研究只关注内部免碰撞,没有考虑外部避障.然而,现实中障碍物是不可忽视的,研究避障问题更有意义.我们通过引入奇异通信权重,适当的协议和虚拟领导者来解决这些问题.利用分析的方法,我们得到一类广义多智能体系统实现避障的充分条件.此外,我们得到奇异权重指数的精确估计.进一步,我们证明了在初始位置,速度和参数符合合适条件时,系统可以实现集群.最后,我们利用数值模拟验证了定理的正确性.In this paper,we focus on obstacle avoidance and flocking of multi-agent systems.Many studies only focus on internal collision avoidance without considering external obstacle avoidance.However,obstacles are not neglectful in reality,and studying obstacle avoidance is more significant.We introduce singular communication weights,suitable protocols,and a virtual leader to solve the problems.By using the analysis method,we obtain sufficient conditions for a class of generalized multi-agent systems to achieve obstacle avoidance.Besides,we get a precise estimate of the singular weights exponent.Furthermore,we prove that when the initial position,velocity and parameters meet suitable conditions,the system can achieve a flock.Finally,we use numerical simulations to verify the correctness of the theorems.

关 键 词：避障 集群 奇异通信权重 虚拟领导 

分 类 号：O193[理学—数学]