An Improved Fast Flocking Algorithm with Obstacle Avoidance for Multiagent Dynamic Systems | |
Wang, Jialiang; Zhao H(赵海); Bi, Yuanguo; Shao SL(邵士亮); Liu, Qian; Chen XC(陈星池); Zeng, Ruofan; Wang, Yu; Ha, Le | |
刊名 | JOURNAL OF APPLIED MATHEMATICS |
2014 | |
卷号 | 2014页码:1-13 |
关键词 | Active Suspension Systems Vehicle |
ISSN号 | 1110-757X |
产权排序 | 2 |
英文摘要 | Flocking behavior is a common phenomenon in nature, such as flocks of birds and groups of fish. In order to make the agents effectively avoid obstacles and fast form flocking towards the direction of destination point, this paper proposes a fast multiagent obstacle avoidance (FMOA) algorithm. FMOA is illustrated based on the status of whether the flocking has formed. If flocking has not formed, agents should avoid the obstacles toward the direction of target. If otherwise, these agents have reached the state of lattice and then these agents only need to avoid the obstacles and ignore the direction of target. The experimental results show that the proposed FMOA algorithm has better performance in terms of flocking path length. Furthermore, the proposed FMOA algorithmis applied to the formation flying of quad-rotor helicopters. Compared with other technologies to perform the localization of quad-rotor helicopter, this paper innovatively constructs a smart environment by deploying some wireless sensor network (WSN) nodes using the proposed localization algorithm. Finally, the proposed FMOA algorithm is used to conduct the formation flying of these quad-rotor helicopters in the smart environment. |
WOS关键词 | ACTIVE SUSPENSION SYSTEMS ; VEHICLE |
WOS研究方向 | Mathematics |
语种 | 英语 |
WOS记录号 | WOS:000343515900001 |
资助机构 | National Natural Science Foundation of China [61101121] ; National High Technology Research and Development Program (863 Program) [2013AA102505] ; Key Laboratory Project Funds of Shenyang Ligong University [4771004kfs03] ; Educational Committee of Liaoning Province Science and Technology Research Projects [L2013096] |
公开日期 | 2014-11-29 |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/15277] |
专题 | 沈阳自动化研究所_机器人学研究室 |
通讯作者 | Bi, Yuanguo |
作者单位 | 1.College of Information Science & Engineering, Northeastern University, Shenyang 110819, China 2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
推荐引用方式 GB/T 7714 | Wang, Jialiang,Zhao H,Bi, Yuanguo,et al. An Improved Fast Flocking Algorithm with Obstacle Avoidance for Multiagent Dynamic Systems[J]. JOURNAL OF APPLIED MATHEMATICS,2014,2014:1-13. |
APA | Wang, Jialiang.,Zhao H.,Bi, Yuanguo.,Shao SL.,Liu, Qian.,...&Ha, Le.(2014).An Improved Fast Flocking Algorithm with Obstacle Avoidance for Multiagent Dynamic Systems.JOURNAL OF APPLIED MATHEMATICS,2014,1-13. |
MLA | Wang, Jialiang,et al."An Improved Fast Flocking Algorithm with Obstacle Avoidance for Multiagent Dynamic Systems".JOURNAL OF APPLIED MATHEMATICS 2014(2014):1-13. |
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