Flocking of Multi-Agents with Arbitrary Shape Obstacle

摘要：

　　Flocking with obstacle avoidance of multi-agents is a significant problem.In this paper,a flocking algorithm in the presence of arbitrary shape obstacles avoidance is provided both in 2D space and 3D space.When obstacles are sensed by α- agents,β- agents which denote obstacles will guide the α- agent driving away from obstacles in a fastest route.We present an approach to determine the position and the velocity of β- agent which denote the repulsive 0effects of obstacles.Finally,simulation results show the effectiveness of our methods.

关键词： flocking obstacle avoidance arbitrary shape 2D space 3D space

作者: DAI Bixia LI Wei

作者单位: Research Institute of Electronic Science and Technology,University of Electronic Science and Technology of China,Chengdu 611731

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 1311-1316

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）