摘要： 针对传统的飞行器集群避障方法不能有效规避非规则障碍物的问题，提出一种基于点状β智能体的集群避障控制方法。在加速度输入的基础上，基于β智能体概念定义点状β智能体，将α智能体对其在障碍物表面投影的规避变为对点状β智能体的规避，调整个体加速度输入中(α, β)协议量的β智能体的坐标和相关向量，使多智能体面向非规则障碍物形成集群。仿真结果表明，该方法能实现集群对非规则障碍物的规避。

关键词: 集群, 加速度, 协议, 点状β智能体

Abstract: As to the inefficiency of evading irregular obstacle in traditional aircraft evading strategies, a flock control strategy based on dot-like β Agent is studied. On the base of accelerator input, the dot-like β Agent is defined based on the notion of β Agent, along with which the avoidance of α Agent’s own projection on the obstacle is transferred into avoiding the dot-like β Agent as assumed, and the coordinate of β Agent together with relative vectors in the (α, β) protocol input of the accelerator is modulated. After that, the multi-Agent is able to shape flock in case of irregular obstacles. Simulation result shows that an algorithm under the model of dot-like β Agent is to render effective evading in case of irregular obstacles.

Key words: flock, accelerator, protocol, dot-like β Agent

中图分类号: 

• TP273