摘要
在以往多智能体编队研究的仿真分析中,相关物理量和运动轨迹常采用静态曲线描述,较少关注系统运动过程的实时动态刻画。针对上述问题,提出了一种基于Processing的动态仿真方法,首先,利用三阶贝塞尔曲线构造了一种新型软体仿生鱼模型。其次,综合虚拟结构法和人工势场法设计了能解决个体避碰问题的多智能体环形围捕控制律。最后,应用仿生鱼模型对多智能体环形围捕控制算法进行动态仿真。仿真结果表明,新型仿真方法直观增强了智能体位姿信息的动态可视化,验证了二阶积分器多智能体系统环形围捕算法的可行性。
In the simulation analysis of multi-agent formation research,related physical quantity and motion trajectories are often described with static curves,and less attention is paid to the real-time dynamic of the system motion evolution process. To deal with this problem, this paper proposes a dynamic simulation method based on Processing. Firstly, a new soft-bodied bionic fish model was constructed by using the cubic Bézier curve;Secondly, a multi-agent circular formation control law that can solve the problem of individual avoidance was designed by the integrated virtual structure and artificial potential field method;Finally, the multi-agent circular formation control algorithm was dynamically simulated by using the bionic fish model. The simulation results show that the new simulation method intuitively enhances the dynamic visualization of the pose information of the intelligent body, and verifies the feasibility of the circular formation algorithm of the second-order integrator multi-agent system.
作者
海金涛
谢广明
文家燕
罗文广
HAI Jin-tao;XIE Guang-ming;WEN Jia-yan;LUO Wen-guang(College of Electrical Information Engineering,Guangxi University of Science and Technology,Liuzhou Guangxi 545000,China;College of Engineering,Peking University,Beijing 100871,China;Institute of Ocean Research,Peking University,Beijing 100871,China)
出处
《计算机仿真》
北大核心
2020年第4期340-346,共7页
Computer Simulation
基金
国家重点研发计划(2017YFB1400800)
国家自然科学基金(91648120,61633002,51575005,61563006,61563005)
广西高校工业过程智能控制技术重点实验室(IPICT-2016-04)。
关键词
二阶积分器
贝塞尔曲线
多智能体
动态可视化
编队避碰
Second-order integrator
Bézier curve
Multi-agent
Dynamic visualization
Formation collision
作者简介
海金涛(1993-),男(满族),辽宁沈阳人,硕士研究生(在读)。研究领域为多智能体编队;谢广明(1972-),男(汉族),北京人,博士,教授,博士生导师。研究领域为多智能体一致性控制;文家燕(1981-),男(汉族),广西全州人,博士生(在读),副教授,硕导。研究领域为多智能体编队;罗文广(1967-),男(汉族),湖南衡东人,教授,硕士,硕导。研究领域为智能控制。
