Research On The Emergence Method Of Ordered Movement Of Two Intersecting Agent Groups Based On Cohesion Center

The emergence of orderly movement of group systems is a hot topic at present,but the research on the emergence of orderly movement of two intersecting agent groups,especially in the obstacle environment,is still very few.Based on the above situation,this thesis has studied this issue,and the main contributions are as follows.Firstly,aiming at the situation where the intelligent agent is not blocked by the obstacle wall in a single straight path obstacle wall environment,the following cohesion center of each robot is obtained through the weight classification idea.The cohesion center can bring together agents with basically the same direction of movement,and then separate different groups of agents in an orderly manner.Then,select a point as its temporary attraction point between the target and the following cohesion center.Finally,an artificial torque motion controller is designed to drive the motion of the agents,so as to realize the emergence of the orderly motion of two intersecting agents in the single straight path environment.In addition,in view of the situation that the intelligent agent may be blocked by the barrier wall in the obstacle environment of curves and turnouts,first set up their respective following cohesion centers and judgmental cohesion centers in combination with the idea of attracting line segments.The introduction of the central idea of cohesion can not only bring together agents with basically the same movement direction,and separate different groups of agents orderly,but also enable agents to bypass the barrier wall.Then,select the appropriate point as its temporary attraction point from the end point of the attraction line,the target point and the cohesion center.Finally,an artificial torque motion controller is designed to drive the movement of the agents,so as to realize the emergence of the orderly movement of two intersecting agents in the environment of curves and turnouts.The simulation results show that the idea of the cohesion center algorithm can be effectively applied to the research of the emergence problem of the orderly movement of two intersecting agent groups,and can make the system as a whole more intuitive emergence of the orderly movement process.