电子科技2026，Vol.39Issue(9)：26-36,11.DOI:10.16180/j.cnki.issn1007-7820.2026.09.004
基于改进贪婪算法的无人车编队领航者选择
Leader Selection in Unmanned Vehicle Formation Based on Improved Greedy Algorithm
摘要
Abstract
The leader is the control core of the unmanned vehicle formation.Selecting an appropriate intelli-gent agent as the leader in the vehicle formation network is conducive to improving the overall control effect of the formation.In the process of achieving the expected time-varying formation of unmanned vehicles,aiming at the problem of minimizing the required leader scale,under the conditions of undirected connected graphs and strongly connected directed graphs,based on the core idea of the backtracking algorithm and the periodic iterative update strategy,this paper respectively proposes two improved greedy algorithms for leader selection under the restraint control condition Both improved algorithms optimize the search strategy of the traditional greedy algorithm.Under the condition of non-strongly connected directed graphs,the introduction of the root node selection index enables the greedy algorithm to quickly select the leader.The simulation results show that for the four types of undirected connected graphs,compared with the traditional greedy algorithm under the given conditions,the number of leaders selected by the improved greedy algorithm is reduced by an average of 20%,and by 33.3%in the chain topology.For non-strongly connected directed graphs,the greedy algorithm that introduces the root node selection index can further reduce the number of leaders.关键词
领航者-跟随者/改进贪婪算法/节点选择/牵制控制/二阶动力学模型/无人车编队/一致性/复杂网络Key words
leader-follower/improved greedy algorithm/selecting nodes/pinning control/second-order dy-namics model/unmanned vehicle formation/consensus/complex network分类
信息技术与安全科学引用本文复制引用
韦俊灿,陈凯乐,高金凤,李乐宝..基于改进贪婪算法的无人车编队领航者选择[J].电子科技,2026,39(9):26-36,11.基金项目
国家自然科学基金(62073296) （62073296）
浙江理工大学科研业务费专项资金(24222091-Y,23222216-Y)National Natural Science Foundation of China(62073296) （24222091-Y,23222216-Y）
Research Funds of Zhejiang Sci-Tech University(24222091-Y,23222216-Y) （24222091-Y,23222216-Y）
