基于模糊逻辑的智能群体编队移动控制方法

针对群体移动过程中,各个智能体因受力波动较 大,而导致群体运动振荡的问题,提 出了一种基于分布式人工势场法与模糊控制相结合的控制算法。通过分析群体运动过程中单 智能体的受力情况,建立耗散力对移动中振荡进行优化,减小群体移动中的振荡负面影响, 提高群体运动的一致性。建立保持力对编队稳定和保持进行优化,提高编队的稳定性。将优 化过后的合力作为模糊控制器的输入,通过强化学习适应环境变化,调节参数控制输出,实 现群体跟随移动控制。此外,给出了可自动调整大小的多种编队控制生成模型,实现群体编 队移动控制。仿真结果表明能 稳定、有效控制群体跟随移动,编队移动中能有效避障,可使 编队提升移动效率和保持拓扑稳定性。

Intelligent group formation movement control method based on fuzzy logic

Aiming at the problem of large force fluctuations of each agent in the process of group movement,which leads to group movement oscillations,a control algorithm based on the combination of distributed artificial potential field method and fuzzy contr ol is proposed.By analyzing the force of the agents in the process of group movement,establish the dissipation force to optimize the oscillation during the movement,reduce the ne gative impact of the oscillation during the movement of the group,and improve the consistency of the group movement.Establish retention to optimize the stability and maintenance of the formation,and improve the stability of the formation.Use the optimized resulta nt force as the input of the fuzzy controller,adapt to environmental changes through intensive learning,adjust the parameters to control the output,and realize the group follow-up mo vement control.In addition,a variety of formation control generation models that can be automa tically adjusted are given to realize group formation movement control.The simulation r esults show that the group can be stably and effectively controlled to follow the movement, and the formation can effectively avoid obstacles during the movement,which can improve the movement efficiency of the formation and maintain the topological stability.