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
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;
Conference_Titel :
Computer Science and Automation Engineering (CSAE), 2012 IEEE International Conference on
Conference_Location :
Zhangjiajie
Print_ISBN :
978-1-4673-0088-9
DOI :
10.1109/CSAE.2012.6272563
