A method of CGF formation control with enhanced reality

In order to improve the unreasonable behaviors of entities in traditional formation control, a new method with enhanced reality was presented. In the method, a following behavior based on trajectory was used to improve follower entities´ performance in vertical direction and the follower entities´ over-depending on leader entity was adjusted. Furthermore, the aim path-planning in formation change was achieved through generic algorithm. The method has been applied to a CGF simulation system. The experimental results show that the proposed algorithm is indeed an effective way to improve the reality of entities´ behaviors in formation control and the possibility of collision is significantly reduced.