摘要
为提高集群运动对环境的适应性,提出了一种基于无界排斥作用的各向异性Swarm模型.各向异性性质使个体之间的相互作用不仅取决于个体间的距离,还与所处势场环境等因素相关,使得集群运动更能适应环境的变化;通过采用无界排斥作用避免了个体之间发生碰撞,保证了各个个体位置的独立性.证明了在线性势场环境中集群中心的聚集运动和集群收敛的稳定性.仿真结果表明,基于此模型的Swarm系统可以聚集成群或列队行进,通过对各向异性参数的控制可以实现集群整体结构和队形的变化.
An anisotropic Swarm model based on unbounded repulsion and social potential fields was proposed to improve the swarm adaptability to the environment. The interactions between individuals depend only on their distance in the unisotropic Swarm model, while in the anisotropic Swarm model, their interactions are also influenced by the potential field in which they are moving, which improving the swarm adaptability to the environment. Furthermore, the unbounded repulsion ensures the independence of each individual and thus avoids the collisions among individuals in collective motion. The convergence of individuals＇ aggregation in linear social potential fields was proved. Simulation show that swarm based on this model can construct different formations by changing anisotropic coefficients, and the collective motion of massive individuals emerges from inter-individual and individual-environment interactions.
出处
《浙江大学学报（工学版）》
EI
CAS
CSCD
北大核心
2007年第6期905-908,914,共5页
Journal of Zhejiang University：Engineering Science
