| 一致环境下多智能体系统的群集算法 |
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| 引用本文： | 陈炎财,杨忠,李少斌,杨成顺,张海黎.一致环境下多智能体系统的群集算法[J].应用科技,2011,38(5):52-55. |
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| 作者姓名： | 陈炎财 杨忠 李少斌 杨成顺 张海黎 |
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| 作者单位： | 1. 南京航空航天大学自动化学院,江苏南京,210016
2. 驻南京地区军事代表室,江苏南京,210016 |
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| 基金项目： | 国家自然科学基金资助项目 |
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| 摘 要： | 针对一致环境下智能群体的群集运动控制算法进行了研究.在群中智能体感知范围有限的情况下,群体拓扑图是动态变化的,假设群体拓扑图时刻保持连通,且群中所有智能体受到外界环境的影响是一致的,通过引入光滑的势场函数,设计了群集控制算法,运用李雅普诺夫稳定性理论,证明了多智能体能取得群集运动,仿真实例验证了算法的有效性.
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| 关 键 词： | 多智能体系统 群集 动态拓扑结构 一致环境 |
Research on flocking algorithm of multi-agent systems in uniform environment |
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| CHEN Yancai,YANG Zhong,LI Shaobin,YANG Chengshun,ZHANG Haili.Research on flocking algorithm of multi-agent systems in uniform environment[J].Applied Science and Technology,2011,38(5):52-55. |
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| Authors: | CHEN Yancai YANG Zhong LI Shaobin YANG Chengshun ZHANG Haili |
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| Institution: | CHEN Yancai1,YANG Zhong1,LI Shaobin1,YANG Chengshun1,ZHANG Haili2(1.College of Automation,Nanjing University of Aeronautics & Astronautics,Nanjing 210016,China,2.Military Representative Office of Nanjing,China) |
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| Abstract: | The multi-agent flocking motion control algorithm in uniform environment is studied.Under the circumstances that the multi-agent system could only sense a limited range,the topology graph of swarm is dynamically changing during the swarm's motion.Given that the multi-agent topology graphs are connected at every moment and every agent is influenced uniformly by exterior environment,the flocking control algorithm is designed by introducing smooth potential function.The application of Lyapunov stability theory... |
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| Keywords: | multi-agent system flocking dynamic topology uniform environment |
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