摘要
针对蜂拥控制算法在多目标跟踪问题中的应用,提出了多目标跟踪蜂拥控制算法。假设智能体不确定具有目标信息,通过Lyapunov稳定性理论,分析了使系统稳定的条件,给出了稳定状态的形式。并证明了如果智能体被预先指定了跟踪的目标,则每个群体达到蜂拥,并且不发生碰撞。对不同的网络初始连通性和两种目标运动模式分别作了仿真,证明了算法的有效性。
For implementation of flocking control algorithm in multi-target tracking,this paper proposes a multi-target tracking flocking control algorithm.It is assumed that each agent uncertainly have the information of a target.By Lyapuvov stability theory,the paper analyzes the condition to make the system stable,and gives the stable state.It also demonstrates that if an agent has a presupposed target,then each group can form a flock,and no agents collide.The simulation verifies the effectiveness of it by different initial connectivity of the network and two kinds of movement patterns of the targets.
作者
张金春
王帅磊
曹彪
杨芸
ZHANG Jinchun;WANG Shuailei;CAO Biao;YANG Yun(Company of Basic Sciences,Naval Aeronautical and Astronautical University,Yantai 264001;Gradugate Administrative Group,Naval Aeronautical and Astronautical University,Yantai 264001;Basic Experiment Department,Naval Aeronautical and Astronautical University,Yantai 264001)
出处
《计算机与数字工程》
2017年第5期861-866,916,共7页
Computer & Digital Engineering
