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针对目前关于群体聚集的稳定性研究中仅考虑同类智能体的问题,提出了一类由leader和follower两种个体组成的多智能体系统聚集模型.在该模型中,只有leader智能体具有关于环境和目标点的信息,并且当个体间距离较远时互相吸引,距离较近时互相排斥.当表示环境信息的势能场函数梯度有界时,证明了系统的聚集稳定性并确定了表示群体大小的一个上界,从而保证了所有leader和follower个体最终聚集在群体中心周围并一起沿着该函数的负梯度方向运动.仿真结果验证了方法有效性.
Aiming at the problem that only the same kind of agents are considered in the stability study of group aggregation, a multi-agent system aggregation model consisting of leader and follower is proposed. In this model, And target point information, and attract each other when the distance between individuals is large and exclude each other when the distance is close. When the gradient of the potential field function representing the environmental information is bounded, it proves the stability of the system and determines the population size So as to ensure that all the leaders and followers eventually converge around the center of the population and move along the negative gradient direction of the function together.The simulation results verify the effectiveness of the method.