| 引用本文: | 李猛,梁加红,李石磊.一种改进的多智能体碰撞避免行为.[J].国防科技大学学报,2013,35(3):92-98.[点击复制] |
| LI Meng,LIANG Jiahong,LI Shilei.An improved collision avoidance behavior of multiple agents[J].Journal of National University of Defense Technology,2013,35(3):92-98[点击复制] |
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| 一种改进的多智能体碰撞避免行为 |
| 李猛1, 梁加红1, 李石磊2 |
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(1.国防科技大学 机电工程与自动化学院，湖南 长沙 410073;2.海军工程大学 信息安全系，湖北 武汉 430033)
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| 摘要: |
| 针对目前碰撞避免行为缺乏真实性和通用性的问题，本文提出一种改进的多智能体碰撞避免行为生成方法。通过引入角色参数和个性参数，使得智能体能够根据自身的属性调整避碰行为。改进的多智能体碰撞避免行为把碰撞避免行为与真实人的属性相联系，可以保持智能体前后运动的一致性和平滑性。因此，更符合真实人的碰撞避免行为特性，具有更强的“类人性”和通用性。仿真结果表明，加入了真实人属性的改进方法产生的避碰行为能有效地应用于具有多样化属性的虚拟人群行为仿真、多机器人系统和多智能体领域中。 |
| 关键词: 多智能体系统 碰撞避免行为 速度障碍 最优互惠碰撞避免速度 |
| DOI： |
| 投稿日期：2012-10-09 |
| 基金项目:国家自然科学基金资助项目(61170160) |
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| An improved collision avoidance behavior of multiple agents |
| LI Meng1, LIANG Jiahong1, LI Shilei2 |
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(1.College of Mechatronics Engineering and Automation,National University of Defense Technology, Changsha 410073, China;2.Department of Information Security, Naval University of Engineering, Wuhan 430033, China)
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| Abstract: |
| An improved collision avoidance behavior of multi-agents was presented due to the fact that the existing methods do not comform to the reality and are devoid of universality. By introducing the role and personality parameters, the agents adjust their collision avoidance behaviors. The improved method constructs a link between collision avoidance behaviors and the attributes of real humans. In this way, the consistency and smoothness of humans' motion is retained. So it fits in with the real humans' collision avoidance behavior more tightly. Also it is more hominine and universal than the existing methods. Simulation tests show that the improved collision avoidance behavior accords with the characteristics of the real people. So it can be used in virtual crowd simulation, multi-robot system and multi-agent system more efficiently. |
| Keywords: multi-agent system collision avoidance behavior velocity obstacles optimal reciprocally collision avoiding |
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