Study On The Emergent Method Of Orderly Motion Of Agents In Barrier-free Environment

The emergence of orderly movement of agents is a hot issue in the research of multi-agent systems.As a direction in this field,flocking has high application value in many fields such as search,rescue and reconnaissance.The difficulty of flocking lies in the fact that the agents need to keep the same speed as others and avoid collisions when going to the target.In reality,however,multiple groups of agents may appear in the same area.Conflicts between two groups of agents are inevitable.The emergence of orderly movement of two intersecting agent groups has also become a problem that must be solved at present.Compared with single swarm agents,the difficult problem in the orderly movement of two intersecting agent groups is: agents need to select the appropriate agent to follow and go to the target according to the state of the surrounding agents.At the same time,the agent needs to avoid the agent that hinders itself.This thesis studies emergent methods for swarms of agents and orderly motion of two intersecting swarms of agents in barrier-free environments.First of all,this thesis proposes an agent flocking control method based on the artificial moment method.In this method,the leader at the front of the group can guide other agents to gather and move towards the target.Compared with the traditional method,the agents can achieve swarm movement only under the guidance of at most two agents in front.And this method does not need to set the alignment term,the agent can align only by identifying the PMDline of other individuals.The movement of agent is driven by artificial moment motion controller,which enables the agent to reach the goal point while avoiding collisions with other agents.Secondly,this thesis proposes a new control method for the orderly movement of two intersecting agents.In this method,in addition to leading and flocking,the agent has conflict resolution movement patterns.The leader agent can not only guide the agents in the group to move towards the goal,but also guide the two groups to gather and move in a new direction when the two groups meet.When two groups of agents gather into a group,the conflict resolution mode starts.The tail agent plays a leadership role and leads the group to resolve conflicts in an orderly manner.According to the information of the surrounding agents,other agents choose different agents to follow.At this time,the two groups gradually separate.During this process,agents that have moved towards the goal gradually gather to re-form a stable structure.The simulation results show that in the barrier-free environment,the method mentioned in this thesis can make the agents with the same goal gather and go to the goal in an orderly manner.It can also effectively make two groups of intersecting agents resolve conflicts and emerge orderly movements.