中国物理B ›› 2011, Vol. 20 ›› Issue (1): 18901-018901.doi: 10.1088/1674-1056/20/1/018901

• • 上一篇    下一篇

Multi-target pursuit formation of multi-agent systems

闫敬1, 罗小元1, 关新平2   

  1. Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China
  • 收稿日期:2010-06-24 修回日期:2010-08-10 出版日期:2011-01-15 发布日期:2011-01-15
  • 基金资助:
    Project partially supported by the National Basic Research Program of China (Grant No. 2010CB731800), the Key Project of Natural Science Foundation of China (Grant No. 60934003), the National Natural Science Foundation of China (Grant No. 61074065) and Key Project for Natural Science Research of Hebei Education Department, China (Grant No. ZD200908).

Multi-target pursuit formation of multi-agent systems

Yan Jing(闫敬)a),Guan Xin-Ping(关新平)a)b)†,and Luo Xiao-Yuan(罗小元)a)   

  1. a Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China; b School of Electronic and Electric Engineering, Shanghai Jiaotong University, Shanghai 200240, China
  • Received:2010-06-24 Revised:2010-08-10 Online:2011-01-15 Published:2011-01-15
  • Supported by:
    Project partially supported by the National Basic Research Program of China (Grant No. 2010CB731800), the Key Project of Natural Science Foundation of China (Grant No. 60934003), the National Natural Science Foundation of China (Grant No. 61074065) and Key Project for Natural Science Research of Hebei Education Department, China (Grant No. ZD200908).

PDF (PC)

1052

赞

摘要： The main goal of this paper is to design a team of agents that can accomplish multi-target pursuit formation using a developed leader--follower strategy. It is supposed that every target can accept a certain number of agents. First, each agent can automatically choose its target based on the distance from the agent to the target and the number of agents accepted by the target. In view of the fact that all agents are randomly dispersed in the workplace at the initial time, we present a numbering strategy for them. During the movement of agents, not every agent can always obtain pertinent state information about the targets. So, a developed leader--follower strategy and a pursuit formation algorithm are proposed. Under the proposed method, agents with the same target can maintain a circle formation. Furthermore, it turns out that the pursuit formation algorithm for agents to the desired formation is convergent. Simulation studies are provided to illustrate the effectiveness of the proposed method.

关键词: multi-agent systems, pursuit, formation, leader--follower

Abstract: The main goal of this paper is to design a team of agents that can accomplish multi-target pursuit formation using a developed leader–follower strategy. It is supposed that every target can accept a certain number of agents. First, each agent can automatically choose its target based on the distance from the agent to the target and the number of agents accepted by the target. In view of the fact that all agents are randomly dispersed in the workplace at the initial time, we present a numbering strategy for them. During the movement of agents, not every agent can always obtain pertinent state information about the targets. So, a developed leader–follower strategy and a pursuit formation algorithm are proposed. Under the proposed method, agents with the same target can maintain a circle formation. Furthermore, it turns out that the pursuit formation algorithm for agents to the desired formation is convergent. Simulation studies are provided to illustrate the effectiveness of the proposed method.

Key words: multi-agent systems, pursuit, formation, leader–follower

中图分类号:  (Computer science and technology)

  • 89.20.Ff
87.85.St (Robotics) 89.65.Ef (Social organizations; anthropology ?) 02.30.Em (Potential theory)