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大规模联合采集智能群体的协调跟踪模型及稳定性分析

陈世明 方华京

陈世明, 方华京. 大规模联合采集智能群体的协调跟踪模型及稳定性分析. 自动化学报, 2006, 32(1): 38-42.
引用本文: 陈世明, 方华京. 大规模联合采集智能群体的协调跟踪模型及稳定性分析. 自动化学报, 2006, 32(1): 38-42.
CHEN Shi-Ming, FANG Hua-Jing. An Improved Cooperative Tracking Model Used for Large-scale Social Foraging Swarm. ACTA AUTOMATICA SINICA, 2006, 32(1): 38-42.
Citation: CHEN Shi-Ming, FANG Hua-Jing. An Improved Cooperative Tracking Model Used for Large-scale Social Foraging Swarm. ACTA AUTOMATICA SINICA, 2006, 32(1): 38-42.

大规模联合采集智能群体的协调跟踪模型及稳定性分析

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    通讯作者:

    方华京

An Improved Cooperative Tracking Model Used for Large-scale Social Foraging Swarm

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    Corresponding author: FANG Hua-Jing
  • 摘要: An improved cooperative tracking model is proposed, which is based on the local information between mutually observable individuals with global object information, and this model is used for scalable social foraging swarm. In this model, the “follower” individuals in the swarm take the center of the minimal circumcircle decided by the neighbors in the positive visual set of individual as its local object position. We study the stability properties of cooperative tracking behavior of social foraging swarm based on Lyapunov stability theory. Simulations show that the stable cooperative tracking behavior of the global social foraging swarm can be achieved easily, and beautiful scalability emerge from the proposed model for social foraging swarm.
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  • 收稿日期:  2004-11-10
  • 修回日期:  2005-10-09
  • 刊出日期:  2006-01-20

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