Abstract: A target tracking algorithm with double-type agents based on flocking control for a system consisting of two kinds of agents is proposed here, and this algorithm can make different agents reach a specific leading-following state and all the agents track a moving target. Firstly, design a system consisting of two types of agents based on the classical flocking control algorithm, analyze the difference between the two types of agents, introduce the tracking relation and the interaction force. Secondly, analyze the forces and design a repulsive potential function, and builds control input for the agents respectively, which can make the agents keep a same velocity with the target and track it stably. Finally, the algorithm is analyzed by Lyapunov stability method and theoretical proof is presented. And the effectiveness of this algorithm is verified by simulation.

Key words: Flocking control, target tracking, double-type, multi-agent, potential function

摘要： 针对由两类智能体组成的系统，设计了一种基于蜂拥控制的双类型多智能体目标跟踪算法，能够实现不同种类智能体间的特定跟随，以及对移动目标的跟踪。首先，在经典蜂拥控制方法的基础上，设计了两类智能体组成的系统，分析了智能体的异同，确定了智能体间的跟踪关系，以及智能体间的相互作用力；其次，设计了排斥势能函数，并对两类智能体分别构造了控制输入，使所有智能体能够保持与目标相同的速度并稳定跟踪；最后，通过Lyapunov稳定性方法对该算法进行了分析，给出了理论证明。仿真验证表明了该方法的有效性。

关键词: 蜂拥控制, 目标跟踪, 双类型, 多智能体, 势能函数