DocumentCode
3030014
Title
Flocking of multi-agents with conic obstacle avoidance
Author
Hu, Nanxi ; Wu, Sentang
Author_Institution
Dept. of Autom. Sci. & Electr. Eng., Beihang Univ., Beijing, China
Volume
1
fYear
2012
fDate
25-27 May 2012
Firstpage
126
Lastpage
132
Abstract
Flocking of multi-agents with obstacle avoidance is a significant problem in the research of flocking. Olfati-Saber proposed a flocking algorithm with obstacle avoidance in [13]. In this paper we extend Olfati-Saber algorithm to 3D flocking with conic obstacle avoidance. The α-agents are guided by β-agents which are determined by the shortest route on the cone. We also present the dissipative analysis of flocking with obstacle avoidance. Finally, simulation results are provided to demonstrate the effectiveness of our proposed methods.
Keywords
collision avoidance; mobile robots; multi-robot systems; α-agents; β-agents; 3D flocking; Olfati-Saber algorithm; conic obstacle avoidance; dissipative analysis; flocking algorithm; multiagent flocking; shortest route; Algorithm design and analysis; Birds; Collision avoidance; Geometry; Mobile computing; Simulation; Vectors; dissipative; obstacle avoidance; shortest route; velocity of β-agent;
fLanguage
English
Publisher
ieee
Conference_Titel
Computer Science and Automation Engineering (CSAE), 2012 IEEE International Conference on
Conference_Location
Zhangjiajie
Print_ISBN
978-1-4673-0088-9
Type
conf
DOI
10.1109/CSAE.2012.6272563
Filename
6272563
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