Autonomous Control Strategy of a Swarm System Under Attack Based on Projected View and Light Transmittance

• 作者: Xuejing Lan Wenbiao Xu Zhijia Zhao Guiyun Liu
• 来源期刊: 自动化学报（英文版）
• 年，卷（期）: 2021,（3）
• 所属期刊栏目: PAPERS
• 页码范围: 648-655
• 页数: 8页
• 语种: 英文
• DOI: 10.1109/JAS.2021.1003880

摘要

In the study of a visual projection field with swarm movements, an autonomous control strategy is presented in this paper for a swarm system under attack. To ensure a fast swarm dynamic response and stable spatial cohesion in a complex environment, a new hybrid swarm motion model is proposed by introducing global visual projection information to a traditional local interaction mechanism. In the face of attackers, individuals move towards the largest free space according to the projected view of the environment, rather than directly in the opposite direction of the attacker. Moreover, swarm individuals can certainly regroup without dispersion after the attacker leaves. On the other hand, the light transmittance of each individual is defined based on global visual projection information to represent its spatial freedom and relative position in the swarm. Then, an autonomous control strategy with adaptive parameters is proposed according to light transmittance to guide the movement of swarm individuals. The simulation results demonstrate in detail how individuals can avoid attackers safely and reconstruct ordered states of swarm motion.