Behavior Analysis in Free Space and Obstacle Environment of Swarm Robot Systems Based on Vicsek Model

摘要：

In order to explain the phenomena of swarm systems form a synchronization behavior,a simple style of Boid model-Vicsek model is adopted.Vicsek model establish a mathematical model of the swarm agents synchronization.The self-organization regulations have been proposed to aim directly at three components: flock centering,direction coincidence,collision avoidance.We attempt to show the reasons why individuals in the natural world can get synchronization,and implement obstacle collision avoidance of the swarm system using artificial coordination fields.The simulation experimental results show that this strategy can achieve swarmrobots synchronization,and can avoid collision between the agent and the obstacle.

关键词： Vicsek model synchronization swarm robot artificial coordinating fields obstacle collision avoidance

作者: Zongchun Liu Yantao Tian Mao Yang

作者单位: School of Communication Engineering Jilin University Changchun,China School of Communication Engineering Jilin University Changchun,ChinaSchool of Communication Engineer

会议类型: 国际会议

会议名称: The 2nd IEEE International Conference on Advanced Computer Control(第二届先进计算机控制国际会议 ICACC 2010)

会议地点: 沈阳

会议语种:英文

页码: 224-229

在线出版日期: 2010-03-27（万方平台首次上网日期，不代表论文的发表时间）