• 论文 •

面向复杂障碍场的多智能体系统集群避障模型

1. （1.陆军工程大学 训练基地， 江苏 徐州 221004； 2.空军勤务学院 基础部， 江苏 徐州 221200）
• 上线日期:2021-03-11
• 通讯作者: 王健（1973—），男，教授，博士 E-mail:njlgdwj@sina.com
• 作者简介:张超省（1987—），男，讲师，博士。E-mail: cs116@163.com
• 基金资助:
陆军工程大学训练基地青年创新基金项目(2020年)

A Multi-agent System Flocking Model with Obstacle Avoidance in Complex Obstacle Field

ZHANG Chaosheng1, WANG Jian1, ZHANG Lin1, WANG Ya2

1. (1.Professional Education and Field Training Base, Army Engineering University of PLA, Xuzhou 221004, Jiangsu, China;2.Department of Basic Courses, Air Force Logistics College of PLA, Xuzhou 221200,Jiangsu, China)
• Online:2021-03-11

Abstract: A multi-agent system flocking model with obstacle avoidance in complex obstacle field is established for the obstacle avoidance of robot flock in the ground battlefield. In this model, the complex obstacle is geometrically described with polygon shape, which reduces the probability of channel narrowing or blocking caused by the least circumscribed circle(ball). Based on the artificial potential method, a mathematical model and the solving flow are presented for the interactions between agents, agent and surrounding obstacles, agent and its target. When solving the model, the rejective edge and rejective area of polygon obstacle are determined from the relationship among the outer center of agent and the geometric properties of polygon obstacle, including inner center, outer center and edge, and the capturing edge of polygon obstacle and the temporary target of agent are determined from the relationship among the outer center of agent, the edge of polygon obstacle and the target, thus overcoming the defect that the agent is usually captured by the edge of polygon obstacle. The simulated results show that the proposed model can be used to control the flocking with obstacle avoidance of multi-agent system whether for static target or dynamic target.