摘要
为了进一步提升群集的运动灵活性和环境适应性,提出一种基于预测机制的自组织分裂/融合控制方法.通过赋予个体一定的"预测智能",使其可以利用历史信息对邻居的未来状态进行预测;进而结合刺激信息在群内的传播规律,设计包含预测信息的群集自组织分裂/融合协同控制方法,实现群集的自发编队融合以及在外部刺激下的应激分裂运动.仿真结果表明,所提出的方法可以显著增强群集的"预见"能力,使其不仅能够获得优良的组群性能,而且在进行分群机动时也更为灵活高效.
In order to further enhance the movement flexibility and environmental adaptivity of flocking systems,a self- organized fission/fusion control method is proposed based on the predictive mechanism.By endowing certain "predictive intelligence"to individuals,they are able to predict the future states of neighbors via historical information.Together with the information transfer mechanism in flocks,a self-organized fission/fusion cooperative control method,which involves the predictive information,is proposed to realize the spontaneous fusion behavior and reactive fission behavior under external stimuli.Simulation results demonstrate that the proposed method can significantly enhance the foreseeability of the flocking system,which not only can gain better fusion performance,but also has more flexible and efficient fission dynamics.
作者
杨盼盼
唐晔
宋家成
YANG Pan-pan;TANG Ye;SONG Jia-cheng(School of Electronic and Control Engineering,Chang'an University,Xi'an 710064,China)
出处
《控制与决策》
EI
CSCD
北大核心
2018年第12期2270-2276,共7页
Control and Decision
基金
陕西省自然科学基础研究计划项目(2017JQ6060)
中央高校基本科研业务费专项资金项目(310832171004)
关键词
群集运动
分裂/融合
预测智能
信息传播
最小二乘估计
collective motion
fission/fusion
predictive intelligence
information transfer
least square estimation
