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Volume 8 Issue 3
Mar.  2021

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2021  >  8(3): 648-655
Xuejing Lan, Wenbiao Xu, Zhijia Zhao and Guiyun Liu, "Autonomous Control Strategy of a Swarm System Under Attack Based on Projected View and Light Transmittance," IEEE/CAA J. Autom. Sinica, vol. 8, no. 3, pp. 648-655, Mar. 2021. doi: 10.1109/JAS.2021.1003880
Citation: Xuejing Lan, Wenbiao Xu, Zhijia Zhao and Guiyun Liu, "Autonomous Control Strategy of a Swarm System Under Attack Based on Projected View and Light Transmittance," IEEE/CAA J. Autom. Sinica, vol. 8, no. 3, pp. 648-655, Mar. 2021. doi: 10.1109/JAS.2021.1003880
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Autonomous Control Strategy of a Swarm System Under Attack Based on Projected View and Light Transmittance

doi: 10.1109/JAS.2021.1003880
Funds:  This work was supported in part by the National Natural Science Foundation of China (61803111, 61803109), in part by the Innovative School Project of Education Department of Guangdong (2017KQNCX153), in part by the Science and Technology Planning Project of Guangzhou City (201904010494), in part by the Scientific Research Projects of Guangzhou Education Bureau (201831805, 202032793)
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    Abstract
  • 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.

     

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    Highlights

    • A hybrid swarm motion model is proposed with the visual projection information.
    • The light transmittance of each individual is defined based on the projected view.
    • An autonomous control strategy is presented according to the light transmittance.

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