CAJ | 학술논문

针对现有群体队形控制方法在队形变换异构性、光滑性、条理性等方面的不足，提出一种基于几何约束机制的受限异构群体队形控制方法。首先采用Morphing方法生成由初始形状平滑变换到目标形状的一系列中间约束形状；然后引入基于质心的容量限制 Power 图对个体在约束形状中的内部布局进行建模，产生所需的异构分布；最后提出面向Power图的Lloyd导航算法，以控制个体进行无碰撞的光滑移动。实验结果表明，该方法稳定可靠，队形变换平滑流畅，非均匀人群分布可用于制作自然的群组动画和仿真真实场景，适用于不同规模、不同队形的异构群体队形控制。
침대현유군체대형공제방법재대형변환이구성、광활성、조이성등방면적불족，제출일충기우궤하약속궤제적수한이구군체대형공제방법。수선채용Morphing방법생성유초시형상평활변환도목표형상적일계렬중간약속형상；연후인입기우질심적용량한제 Power 도대개체재약속형상중적내부포국진행건모，산생소수적이구분포；최후제출면향Power도적Lloyd도항산법，이공제개체진행무팽당적광활이동。실험결과표명，해방법은정가고，대형변환평활류창，비균균인군분포가용우제작자연적군조동화화방진진실장경，괄용우불동규모、불동대형적이구군체대형공제。
Towards the regularity, smoothness and stability problem of existing flock formation control methods, an innovative theory for regulated heterogeneous flock formation control based on geome-try-constrained mechanism is proposed. Firstly, geometry Morphing method is utilized to generate a series of intermediate constraint shapes from the initial shapes to the target ones; then capacity constrained centroidal power diagram is introduced to model the internal layouts of groups in the constraint shapes in order to ob-tain required heterogeneous distributions; finally, the Lloyd’s method for power diagram is presented as a navigation algorithm for smooth and collision-free movement. Experimental results show that the proposed method is stable and reliable to generate smooth and fluent formation transformations, can produce natural formation animations and simulate real scenarios by heterogeneity feature, and is applicable for crowd for-mation control with different scales and formations.