基于伪领导者的多智能体蜂拥行为的研究.pdfVIP

基于伪领导者的多智能体蜂拥行为研究 周立海 杨洪勇 (鲁东大学信息科学与工程学院，烟台 264025) 摘要：蜂拥行为的产生来源于对飞鸟、鱼群、蚂蚁以及蜜蜂行为的研究，这些群体通过每个个体的 局部信息交互而产生统一的觅食、迁徙、归巢等行为。多智能体的自组织行为促进了蜂拥行为在工 程上的应用，包括在环境中的大量移动传感器、媒介的平行同步传输、军事任务上应用于侦查、监 视和战斗协作。本文的主要研究内容是具有虚拟领导者的多智能体蜂拥控制算法，分别对群体中只 有一部分智能体具有引导信息和虚拟领导者具有变化速度的情况作了分析。通过个体之间的局部感 知作用和相应的反应行为，使系统整体呈现一定的协调行为。 关键词：多智能体；控制论；蜂拥；虚拟领导者 中图分类号：TP3 文献标识码：A Based Virtual Leader of Multi-agent Flocking Behavior Zhou Li-hai, Yang Hong-yong （School of Information Science and Engineering，Ludong University ，Yantai 264025 ，China ） ABSTRACT ：Flocking behavior of the production comes from birds, fish, ants and bees behavior. Through these groups exchange local information with each individual arising from unified foraging, migration, homing, and other acts. Flocking is a large number of agents that interact with each other through a normal external command. A large number of acts of self-organizing agent develop the flocking behavior in engineering applications, including in the environment of a large number of mobile sensors; media parallel to the synchronous transmission; military tasks used in reconnaissance, surveillance and combat collaboration. In this paper, a single virtual leader of the multi-agent flocking control algorithm is studied. Its main targets are only parts of the agent with information and virtual leadership to guide the pace of change in both cases have been studied. By means of the local perception of the role between individuals and the corresponding reaction behavior, the system presents a certain degree of coordination of the overall behavior. KEYWORDS ：agent; control theory; flocking; virtual leader 1 引言 在自然界中的群体往往只有很好的个体具 聚合和速度匹配的蜂拥控制，而不考虑个体之间 有引导