| 肖宏琪,肖其珍,刘宏亮.一类免碰撞编队集群模型[J].南华大学学报(自然科学版),2023,(1):64~70.[XIAO Hongqi,XIAO Qizhen,LIU Hongliang.A Collision-avoidance Flocking and Pattern Formation Model[J].Journal of University of South China(Science and Technology),2023,(1):64~70.] |
| 一类免碰撞编队集群模型 |
| A Collision-avoidance Flocking and Pattern Formation Model |
| 投稿时间：2022-09-29 |
| DOI：10.19431/j.cnki. 1673-0062.2023.01.010 |
| 中文关键词: 避免碰撞 能量函数 编队 集群 |
| 英文关键词:collision-avoidance energy function flocking pattern formation |
| 基金项目:湖南省自然科学基金项目(2020JJ6003;2021JJ30567);湖南省教育厅重点项目(20A425) |
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| 中文摘要: |
| 在本文中,研究了Cucker-Samle模型的编队问题。基于图论和李雅普诺夫函数,通过引入一类耦合作用力保证了多智能体之间在形成集群的过程中避免碰撞。在一维的情况下,证明了最终集群形成免碰撞编队。最后,数值模拟验证了理论结果的正确性。 |
| 英文摘要: |
| This paper studies the pattern formation problem of the Cucker-Smale (CS) flocking model. Based on graph theory and Lyapunov functions, a kind of coupling force is introduced to avoid collision between multi-agents in the process of cluster formation. In one-dimensional case, it is proved that the final cluster forms a collision-free formation. Finally, numerical simulation verifies the correctness of the theoretical results. |
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