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| 有虚拟势能点的编队控制策略 | |
| 引用本文： | 燕雪峰,宋琛. 有虚拟势能点的编队控制策略[J]. 海军工程大学学报, 2011, 0(5): 16-20,26 |
| 作者姓名： | 燕雪峰 宋琛 |
| 作者单位： | 南京航空航天大学信息科学与技术学院; |
| 基金项目： | 国家部委基金资助项目(51303020403) |
| 摘 要： | 针对人工势能场方法容易陷入局部极值的缺陷,提出了有虚拟势能点的避障算法.该算法在编队进入对队形影响较大的复杂环境中引入额外的虚拟势能点,利用虚拟势能点的作用力使智能体脱离局部障碍物陷阱,进行队形重组,提高了编队队形保持能力；编队运动通过不同的地形时,队形变化程度不一,单一队形控制方法难以在各种环境下保持高效性、有效性,... |
| 关 键 词： | 编队控制 势能场 虚拟势能点 |
A formation control strategy with virtual potential-point |
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| YAN Xue-feng,SONG Chen. A formation control strategy with virtual potential-point[J]. Journal of Naval University of Engineering, 2011, 0(5): 16-20,26 | |
| Authors: | YAN Xue-feng SONG Chen |
| Affiliation: | YAN Xue-feng,SONG Chen(College of Information Science and Technology,Nanjing Univ.of Aeronautics andAstronautics,Nanjing 210016,China) |
| Abstract: | The potential-field method is liable to fall into local minimum.For this reason,an obstacle avoidance algorithm based on virtual potential is designed.The algorithm adopts the force of the virtual potential to help the agents get out of the partial obstruction trap and restructure the formation.The agent can get out of the trap of local obstacles with the help of virtual potential points,thus making the formation to be reorganized,and enhancing the ability of formation.A single formation control method has ... |
| Keywords: | formation-control potential-field virtual potential-point |
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