作者：李石磊等
页数：164
出版社：电子工业出版社
出版日期：2023
ISBN：9787121470110
电子书格式：pdf/epub/txt
内容简介
本书主要介绍了满足多个时空约束要求的多智能体运动规划技术，全书共8章：第1～2章阐述了运动规划的基本概念、相关技术，重点讲述了智能体多层次行为模型；第3～6章分别从不同角度对多智能体时空约束建模方法进行了讲解；第7章介绍了相关仿真应用案例；第8章对深度强化学习在运动规划中的应用进行了探索研究。 本书适合从事智能无人平台运动规划研究、开发的技术人员，以及相关专业的高校师生阅读参考。
作者简介
李石磊，海军工程大学信息安全系讲师、中国仿真学会仿真技术应用专业委员会委员。主要从事复杂系统建模与仿真、信息安全技术研究与教学，主持了国家自然科学基金青年项目“物理仿真虚拟人运动控制技术研究”、博士后基金项目“复杂动态场景多智能体运动规划技术”，参与了国家自然科学基金面上项目“数据和模型混合驱动的虚拟人群仿真及其在军事中的应用研究”等项目。
本书特色
本书适合从事智能无人平台运动规划研究、开发的技术人员，以及相关专业的高校师生阅读参考。
目录
第1 章 智能体运动规划研究概述·······································································（1）
1.1 研究背景···························································································（1）
1.2 研究现状···························································································（1）
1.3 研究思路···························································································（8）
第2 章 运动规划中的智能体多层次行为模型框架设计·········································.（11）
2.1 环境建模方法··················································································.（11）
2.1.1 三角剖分法···········································································.（11）
2.1.2 可视图方法···········································································.（12）
2.1.3 Voronoi 图法··········································································.（12）
2.1.4 随机采样法···········································································.（13）
2.2 运动规划方法··················································································.（16）
2.2.1 全局运动规划········································································.（16）
2.2.2 局部运动规划········································································.（20）
2.3 智能体多层次行为模型设计································································.（23）
2.3.1 智能体介绍···········································································.（23）
2.3.2 现有智能体行为模型框架·························································.（24）
2.3.3 智能体多层次行为模型框架······················································.（27）
第3 章 基于多信息域、多分辨率场景描述模型的多层次运动规划算法研究··············.（31）
3.1 相关工作························································································.（31）
3.2 层次化运动规划算法总体思路·····························································.（34）
3.2.1 问题描述··············································································.（34）
3.2.2 总体思路··············································································.（35）
3.3 全局层次上的多样化引导路径生成·······················································.（36）
3.3.1 高层时空约束的表示·······························································.（36）
3.3.2 全局概率路径图的生成····························································.（38）
3.3.3 全局多样化引导路径的生成······················································.（39）
3.4 局部层次上的多样化运动路径生成·······················································.（41）
3.4.1 局部高分辨率概率路径图的生成················································.（41）
3.4.2 局部多样化运动路径的生成······················································.（42）
3.5 动态障碍情况下的运动路径重新规划问题··············································.（43）
3.5.1 运动路径的重新规划·······························································.（43）
3.5.2 概率路径图的动态更新····························································.（44）
3.6 仿真实验与结果分析·········································································.（45）
第4 章 多智能体避碰行为研究·······································································.（48）
4.1 相关工作························································································.（48）
4.2 避碰行为的基本概念与问题描述··························································.（50）
4.2.1 基本概念··············································································.（50）
4.2.2 问题描述··············································································.（51）
4.3 反应式避碰行为模型·········································································.（52）
4.4 基于最小代价原则的预测式避碰行为模型··············································.（57）
4.4.1 最小代价原则········································································.（57）
4.4.2 基于最小代价原则的预测式避碰行为建模····································.（58）
4.5 仿真实验与结果分析·········································································.（63）
第5 章 基于增广物理仿真的运动规划多任务约束建模分析与优化求解····················.（67）
5.1 相关工作························································································.（67）
5.2 问题描述························································································.（70）
5.3 控制围栏函数基础背景知识································································.（70）
5.4 基于控制围栏函数的多任务约5
1.1 研究背景···························································································（1）
1.2 研究现状···························································································（1）
1.3 研究思路···························································································（8）
第2 章 运动规划中的智能体多层次行为模型框架设计·········································.（11）
2.1 环境建模方法··················································································.（11）
2.1.1 三角剖分法···········································································.（11）
2.1.2 可视图方法···········································································.（12）
2.1.3 Voronoi 图法··········································································.（12）
2.1.4 随机采样法···········································································.（13）
2.2 运动规划方法··················································································.（16）
2.2.1 全局运动规划········································································.（16）
2.2.2 局部运动规划········································································.（20）
2.3 智能体多层次行为模型设计································································.（23）
2.3.1 智能体介绍···········································································.（23）
2.3.2 现有智能体行为模型框架·························································.（24）
2.3.3 智能体多层次行为模型框架······················································.（27）
第3 章 基于多信息域、多分辨率场景描述模型的多层次运动规划算法研究··············.（31）
3.1 相关工作························································································.（31）
3.2 层次化运动规划算法总体思路·····························································.（34）
3.2.1 问题描述··············································································.（34）
3.2.2 总体思路··············································································.（35）
3.3 全局层次上的多样化引导路径生成·······················································.（36）
3.3.1 高层时空约束的表示·······························································.（36）
3.3.2 全局概率路径图的生成····························································.（38）
3.3.3 全局多样化引导路径的生成······················································.（39）
3.4 局部层次上的多样化运动路径生成·······················································.（41）
3.4.1 局部高分辨率概率路径图的生成················································.（41）
3.4.2 局部多样化运动路径的生成······················································.（42）
3.5 动态障碍情况下的运动路径重新规划问题··············································.（43）
3.5.1 运动路径的重新规划·······························································.（43）
3.5.2 概率路径图的动态更新····························································.（44）
3.6 仿真实验与结果分析·········································································.（45）
第4 章 多智能体避碰行为研究·······································································.（48）
4.1 相关工作························································································.（48）
4.2 避碰行为的基本概念与问题描述··························································.（50）
4.2.1 基本概念··············································································.（50）
4.2.2 问题描述··············································································.（51）
4.3 反应式避碰行为模型·········································································.（52）
4.4 基于最小代价原则的预测式避碰行为模型··············································.（57）
4.4.1 最小代价原则········································································.（57）
4.4.2 基于最小代价原则的预测式避碰行为建模····································.（58）
4.5 仿真实验与结果分析·········································································.（63）
第5 章 基于增广物理仿真的运动规划多任务约束建模分析与优化求解····················.（67）
5.1 相关工作························································································.（67）
5.2 问题描述························································································.（70）
5.3 控制围栏函数基础背景知识································································.（70）
5.4 基于控制围栏函数的多任务约5
