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对群集动态行为的涌现机制进行深入研究,提出了一种新颖的基于骨干网络的系统层次型组织拓扑结构的分布式建模方法,进而以层次型网络模型为基础,在骨干网络层内部采用分布式人工势场函数实现骨干网络内部的连通性保持和拓扑结构重构,然后利用领航跟随控制思想,将基于势函数的梯度控制算法和基于调和流函数的避障控制算法有机结合,巧妙地解决了网络的跨层连通性保持与对障碍物的光滑规避,实现了骨干网络层与非骨干网络层之间的跨层协调控制,减少了冗余通信约束,降低通信和计算代价,显著增强了整个系统的灵活性和适应性。
In this paper, the emerging mechanism of cluster dynamic behavior is deeply researched, and a novel distributed modeling method based on backbone network is proposed, which is based on hierarchical network model and distributed in the backbone network layer Type artificial potential field function is used to maintain connectivity and rebuild the topology in the backbone network. Then, by using the pilot-following control theory, the gradient control algorithm based on potential function and the obstacle avoidance control algorithm based on the harmonic flow function are organically combined to solve the problem The cross-layer connectivity of the network is maintained and the smooth evasion of obstacles is realized. The cross-layer coordination control between the backbone network layer and the non-backbone network layer is realized, the redundant communication constraints are reduced, the communication and computational cost are reduced, The flexibility and adaptability of the entire system.