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.

中文翻译：

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基于投影视角和透光率的群体系统受攻击自主控制策略

在研究具有群体运动的视觉投影场时，本文提出了一种受攻击群体系统的自主控制策略。为了在复杂环境中确保快速的群体动态响应和稳定的空间凝聚力，通过将全局视觉投影信息引入传统的局部交互机制，提出了一种新的混合群体运动模型。面对攻击者，个人会根据环境的投射图移向最大的自由空间，而不是直接向攻击者的相反方向移动。而且，攻击者离开后，一群人当然可以在没有分散的情况下进行重组。另一方面，根据全局视觉投影信息定义每个人的透光率，以表示其空间自由度和在群体中的相对位置。然后，根据光的透射率，提出了具有自适应参数的自主控制策略，以指导群体个体的运动。仿真结果详细说明了个人如何能够安全地避开攻击者并重构群体运动的有序状态。