Enhancing convergence efficiency of self-propelled agents by diffusion concept
作者单位：The Shanghai Key Laboratory of Power Station Automation Technology School of Mechatronics and Automation Shanghai University
会议名称：《第40届中国控制会议》
会议日期：2021年
学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 081104[工学-模式识别与智能系统] 08[工学] 0835[工学-软件工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）]
关 键 词：Multi-agent system Vicsek model Synchronization convergence time
摘 要：In recent years, the well-known Vicsek model（VM） has attracted the interest of many researchers. In this paper,we investigate a revised Vicsek model based on diffusion concept, named as diffusion Vicsek model. The proposed diffusion Vicsek model can use weights to make the agents in the cluster more dispersed without introducing additional repulsive forces. In diffusion Vicsek model, the λ is introduced to adjust the degree of dispersion. When the value of λ is larger, it is more conducive to increase the dispersion of the cluster. Especially when λ = 0, the diffusion model will become the original Vicsek *** the simulation experiments, the original Vicsek model and the diffusion Vicsek model are compared. The results show that there is an optimal λ under different number of agents N, communication radius R and absolute velocity v0, which effectively improves the convergence speed of the cluster.