摘要
针对多智能体系统的避障问题,依据个体间运动趋势特征设计了二阶控制策略。通过可切换势场实现了多智能体系统个体间、个体与障碍物间的避免碰撞。同时控制策略还保证了多智能体系统个体间距离的有界性及个体间速度的渐近一致性。通过调整个体间预设距离,控制策略还可以实现多智能体系统的编队控制。最后,针对上述结论给出了理论验证,并通过一组数值模拟实验验证了控制策略的有效性。
Aiming at the obstacle avoidance problem of multi-agent system,a second-order control strategy was designed according to the movement trend among individuals.The collision avoidance between individuals and obstacles of multi-agent system was realized through the switchable potential field.The control strategy also guaranteed the boundedness of the distance between individuals and the asymptotic consistency of the speed between individuals in the multi-agent system.By adjusting the preset distance between individuals,the control strategy can also achieve the formation control of multi-agent system.Finally,the theoretical proof of the above conclusions was given,and the effectiveness of the control strategy was verified by a group of numerical simulation.
作者
程建飞
CHENG Jianfei(92941 Troops of the PLA,Huludao 125000,China)
出处
《飞行力学》
CSCD
北大核心
2023年第6期89-94,共6页
Flight Dynamics
关键词
多智能体系统
可切换势场
避障
避免碰撞
multi-agent system
switchable potential field
obstacle avoidance
collision avoidance
