面向复杂障碍场的多智能体系统集群避障模型

doi:10.3969/j.issn.1000-1093.2021.01.016

兵工学报 ›› 2021, Vol. 42 ›› Issue (1): 141-150.doi: 10.3969/j.issn.1000-1093.2021.01.016

面向复杂障碍场的多智能体系统集群避障模型

张超省¹，王健¹，张林¹，王娅²

（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.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

摘要/Abstract

摘要： 针对在地面战场中机器人集群执行任务时的避障问题，建立复杂障碍场中多智能体系统集群避障模型。障碍体采用多边形进行几何建模，减少最小外接圆（球）描述时造成的通道变窄或堵死的概率。基于人工势能方法，给出智能体与智能体、智能体与障碍体、智能体与目标相互作用的数学模型和求解流程：以智能体外心与多边形障碍体内心、外心、边的相互关系，确定障碍体的排斥边和排斥区域；以智能体外心、多边形障碍体边以及目标的相互关系，确定多边形障碍体的捕获边和智能体的临时目标，解决智能体被多边形障碍体边捕获的问题。仿真结果表明：不论静态目标还是动态目标，该模型都可以实现多智能体系统的集群避障控制，验证了其实用性和有效性。

关键词: 多智能体, 复杂障碍场, 集群运动, 避障

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.

Key words: multi-agentsystem, complexobstaclefield, flockingmotion, obstacleavoidance

中图分类号:

TP242.3

张超省, 王健, 张林, 王娅. 面向复杂障碍场的多智能体系统集群避障模型[J]. 兵工学报, 2021, 42(1): 141-150.

ZHANG Chaosheng, WANG Jian, ZHANG Lin, WANG Ya. A Multi-agent System Flocking Model with Obstacle Avoidance in Complex Obstacle Field[J]. Acta Armamentarii, 2021, 42(1): 141-150.

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面向复杂障碍场的多智能体系统集群避障模型

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

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