A General Alignment Repulsion Algorithm for Flocking of Multi-Agent Systems
A General Alignment Repulsion Algorithm for Flocking of Multi-Agent Systems
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DOI：
10.1109/tac.2010.2089652
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发表时间：
2011-02
影响因子：
6.8
通讯作者：
Hai-Tao Zhang;Chao Zhai;Zhiyong Chen
中科院分区：
文献类型：
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作者：
Hai-Tao Zhang;Chao Zhai;Zhiyong Chen
提出了一种新的基于个体的多智能体群体对齐/排斥算法。通过该算法，每个个体排斥其足够接近的邻居，并与其具有中等距离的邻居的平均速度对齐。在数学分析和数值模拟中，我们证明了该算法保证了一个uncrowded群集行为与渐近速度同步时，足够密集的通信存在于代理。此外，我们提供了避碰的条件，沿着整个过渡过程。所提出的群集模型在自然群体行为中具有参考价值，如逃离恐慌和交通堵塞运动。
A novel individual-based alignment/repulsion algorithm is proposed in this note for a flock of multiple agents. With this algorithm, each individual repels its sufficiently close neighbors and aligns to the average velocity of its neighbors with moderate distances. In both mathematical analysis and numerical simulation, we prove that the algorithm guarantees an uncrowded flocking behavior with asymptotic velocity synchronization when sufficiently intensive communication exists within the agents. Moreover, we provide the conditions for collision avoidance along the whole transient procedure. The proposed flocking model has its references in natural collective behaviors like escaping panic and traffic jam motions.