Research On The Combat Formation Control Of Infantry Squad In CGF

Formation control is an important research direction of cooperative control problem in multi-agent system. It has been paid extensive attention to and deeply studied. Combat simulation system based on computer generated force is a successful application in military aspect using multi-agent modeling thought. Using formation control methods can enhance the cooperative ability between soldiers in this kind of system, improve the holistic battle effectiveness, and meliorate the fidelity of simulation system. Infantry squad is a basic combat unit, so it is important to control its formation. This paper studies the formation control problem of infantry squad in motion process and fighting process separately.First, this paper introduces the basic theory of formation control, some concerning concepts and key approaches. The original thought, existing shortages and improving measures of several classical methods are analyzed in detail, and some useful criterions to judge the advantages and disadvantages of these methods are presented.In motion process, to improve the robustness of Leader-Follower method when changing formation, the position information of new formation and members is used to construct a global assignment function, making sure that the sum of moving distance of all members is the shortest. When driving members to their target positions, artificial force with a brief format and less calculated amount is designed by Lyapunov stability theory. And through meliorating the artificial force with concerning conclusions of classical control theory, members’ moving performance is improved.In fighting process, local battlefield is divided to several regions with different tactical meaning by using the positions of enemies and the borderlines of obstacles. To drive the infantry squad into these regions, “artificial force derived from lines” is constructed using the borderlines of regions. It is demonstrated that the infantry squad can stay in the regions steadily under the artificial force. By meliorating the artificial force with different important degrees of the borderlines of regions and the state information of members, soldiers’ tactical behaviors are enriched greatly.At last, in the application background of combat simulation, formation control methods mentioned in this paper are confirmed by simulation experiments. The stable formation and nicer motion behaviors showed by these experiments guarantee successful applications in projects to the research contents of this paper.