doi: 10.4304/jsw.6.8.1594-1602
Flocking Motion, Obstacle Avoidance and Formation Control of Range Limit Perceived Groups Based on Swarm Intelligence Strategy
- 1 College of Electric & Information Engineering, Lanzhou University of Technology, Lanzhou, P. R. China
- 2 Department of chemical machinery, School of chemical technology, Qinghai University, Xining, P. R. China
- 3 Complex System & Computational Intelligence Laboratory; Taiyuan University of Science & Technology, Taiyuan, P. R. China
- 4 Social Science Department, Qinghai University, Xining, P. R. China
- 5 Department of Environmental and Cultural Sciences, Faculty of Human Environment, General Science University of Nagasaki, Nagasaki, Japan
Abstract
In nature there are many biological organisms show that the collective behavior in which implicating the potential interior operational principle. Based on the analysis of various biological swarms of dynamic aggregation mechanism, the swarm’s flocking motion, obstacle avoidance and formation behaviour control was studied based on intelligent agents that have limited detection range, an isotropic perceived group dynamic model is proposed in this paper. The theoretical analysis confirm that, based on the strategy of combining artificial potential with velocity consensus, under an interplay between linearly bounded attraction and unbounded repulsion force among the individuals in the group, as a result of security safeguard of the safe distance between individuals, the individuals in the group during the course of coordinative motion can realize the local collision-free stabilization of particular predefined a desired symmetric geometrical configuration formation and mutual aggregating behaviour. Better self-adaptability of surrounding environment is embodied out in the proposed model. The results of simulation show that the algorithm is valid.
Keywords
- limited-range
- perceived
- groups;
- flocking
How to Cite
Zhibin Xue, Jianchao Zeng, Caili Feng, and Zhen Liu, "Flocking Motion, Obstacle Avoidance and Formation Control of Range Limit Perceived Groups Based on Swarm Intelligence Strategy," Journal of Software, vol. 6, no. 8, pp. 1594-1602, 2011. https://doi.org/ 10.4304/jsw.6.8.1594-1602
Copyright & License
Copyright © 2011 by the authors. This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).