Title :
Flocking of multi-agents with arbitrary shape obstacle
Author :
Dai Bixia ; Li Wei
Author_Institution :
Res. Inst. of Electron. Sci. & Technol., Univ. of Electron. Sci. & Technol. of China, Chengdu, China
Abstract :
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 effects of obstacles. Finally, simulation results show the effectiveness of our methods.
Keywords :
collision avoidance; mobile robots; multi-agent systems; α-agents; β-agents; 2D space; 3D space; arbitrary shape obstacles avoidance; flocking algorithm; multiagent system; Algorithm design and analysis; Collision avoidance; Force; Sensors; Shape; Three-dimensional displays; Vectors; 2D space; 3D space; arbitrary shape; flocking; obstacle avoidance;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6896818
