CAJ | 학술논문

针对由多个领导智能体和多个跟随智能体组成的多智能体组，提出一种障碍环境下具有多领导者的组行为生成方法。该方法属于分布式控制方法，其利用组中的领导智能体控制跟随智能体，使得跟随智能体的中心和速度分别指数收敛于组中所有领导智能体的加权位置中心和加权平均速度，且每个领导智能体权重的大小取决于其所带领的跟随智能体的数目。另外，该方法通过在障碍的边缘引入虚拟的“β-智能体”，使组中的个体具有与环境中的静态和动态障碍避碰的能力，最终生成真实的障碍空间中具有多领导者的组行为。最后以虚拟人智能体组为载体进行仿真实验，验证了该方法的有效性。
침대유다개령도지능체화다개근수지능체조성적다지능체조，제출일충장애배경하구유다령도자적조행위생성방법。해방법속우분포식공제방법，기이용조중적령도지능체공제근수지능체，사득근수지능체적중심화속도분별지수수렴우조중소유령도지능체적가권위치중심화가권평균속도，차매개령도지능체권중적대소취결우기소대령적근수지능체적수목。령외，해방법통과재장애적변연인입허의적“β-지능체”，사조중적개체구유여배경중적정태화동태장애피팽적능력，최종생성진실적장애공간중구유다령도자적조행위。최후이허의인지능체조위재체진행방진실험，험증료해방법적유효성。
Aiming at the agents group composed of multiple leader agents and multiple follower ones,a flocking behavior method with multiple leaders in obstacle environment is proposed.As a distributed control method,it controlled the follower agents with the leader agents of the group. Simultaneously,the center and average velocity of the follower agents exponentially was converged to the weighted average position and the velocity of the leader agents respectively.And the weight was dependent on the number of follower agents which were led by the leader agents.Moreover, by introducing a class of agents which are denoted as “β-agent”at the border of the obstacles,the follower agents possessed the capacity of avoiding collision with the static and dynamic obstacles.In this way,believable flocking behavior with multiple leaders in obstacle environment was generated.Simulation results with virtual humans being the members of the group demonstrate the effectiveness of the proposed method.