A multi-agent autonomous tracking method, device and computer storage medium
A multi-agent, intelligent body technology, applied in the computer field, can solve the problem of difficult to guarantee motion stability, achieve the effect of guaranteeing continuity and stability, and reducing the probability of empty sets
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Embodiment 1
[0058] see figure 1 , figure 1 It is a schematic flow diagram of a multi-agent autonomous tracking method based on an adaptive collision avoidance mechanism shown in Embodiment 1 of the present invention, wherein the method includes the following steps:
[0059] 101. Obtain the desired speed of the target agent at the current moment;
[0060] In the embodiment of the present invention, multiple target agents in the environment can calculate their own expected speed based on the positional relationship between the surrounding neighbor agents and their corresponding targets, and maintain a smooth movement at a single moment, so as to ensure that the observed target is at The best position within the own observation area (for example, the center of the observation area).
[0061] 102. Calculate the dynamic adaptive collision avoidance weight of the target agent according to the expected speed.
[0062] 103. Calculate a feasible set of collision avoidance speeds between the tar...
Embodiment 2
[0113] see figure 2 , figure 2 It is a schematic structural diagram of a multi-agent autonomous tracking device based on an adaptive collision avoidance mechanism disclosed in Embodiment 2 of the present invention. Such as figure 2 As shown, the device may include an acquisition module 201, a first calculation module 202, a second calculation module 203, a third calculation module 204, a fourth calculation module 205, a first judgment module 206, a second judgment module 207, and a construction module 208 , control module 209, wherein:
[0114] The acquisition module 201 is used to acquire the expected speed of the target agent at the current moment. It should be noted that the first calculation module 202 can be triggered to start after the acquisition module 201 is executed.
[0115] The first calculation module 202 is used to calculate the dynamic adaptive collision avoidance weight of the target agent according to the expected speed. It should be noted that the secon...
Embodiment 3
[0139] see image 3 , image 3 It is a schematic structural diagram of a multi-agent autonomous tracking device based on an adaptive collision avoidance mechanism disclosed in Embodiment 3 of the present invention. Such as image 3 As shown, the device may include:
[0140] A memory 301 storing executable program codes;
[0141] a processor 302 coupled to the memory 301;
[0142] The processor 302 invokes the executable program code stored in the memory 301 to perform the following steps:
[0143] Obtain the expected speed of the target agent at the current moment;
[0144] Calculating the dynamic adaptive collision avoidance weight of the target agent according to the expected speed;
[0145] Calculating a feasible set of collision avoidance speeds between the target agent and the reference agent according to the dynamic adaptive collision avoidance weight;
[0146] If the collision avoidance speed feasible set between the target agent and the reference agent is non-em...
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