摘要
自然界生物群体所展示出的群体行为中蕴涵着潜在的内部运行机理。在对生物群体的动态聚集机理进行分析的基础上,提出了一种个体检测范围有限的各向同性感知群体动力学模型,并基于Lyapunov稳定性理论对该有限感知智能群体系统的群集稳定性进行了证明。理论分析及仿真结果表明,该方案可行。群内个体间在线性有界吸引和无界排斥作用下由于安全距离的保障,在协调运动过程中个体间可实现碰撞规避而完成相互聚集,体现出对周围环境较强的自适应性、工程上的可行性、扩展性和实用性。
In nature many biological organisms show the collective behavior which implicates the potential interior operational principle. Based on the analysis of various biological swarms of dynamic aggregation mechanism, an isotropic perceived group dynamic model in which the detection range was considered as finite was proposed. The stability of aggregating behavior of the range limit perceived intelligent swarm systems was proved with Lyapunov stability theory. The theoretical analysis and simulation results confirm the feasibility of the scheme. Under an interplay between linearly bounded attraction and unbotmded repulsion force among the individuals in the group, as a result of security safeguard of the safe distance between individuals, the individuals in the group during the course, of coordinative motion, ensures the collision-eluding obstacles and realizes mutual aggregating behavior. Better self-adaptability of surrounding environment, engineering applicability, scalability and practicability are embodied out in the proposed model.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2009年第20期6352-6355,共4页
Journal of System Simulation
关键词
有限感知群体
动力学模型
聚集行为
稳定性
自适应性
仿真
range limit perceived group
dynamic model
aggregating behaviour
stability
self-adaptability
simulation
