An Improved Fast Flocking Algorithm with Obstacle Avoidance for Multiagent Dynamic Systems

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	An Improved Fast Flocking Algorithm with Obstacle Avoidance for Multiagent Dynamic Systems
	Wang, Jialiang; Zhao, Hai; Bi, Yuanguo; Shao SL(邵士亮); Liu, Qian; Chen, Xingchi; 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
通讯作者	Bi, Yuanguo
产权排序	2
中文摘要	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标题词	Science & Technology ; Physical Sciences
类目[WOS]	Mathematics, Applied
研究领域[WOS]	Mathematics
关键词[WOS]	ACTIVE SUSPENSION SYSTEMS ; VEHICLE
收录类别	SCI
资助信息	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]
语种	英语
WOS记录号	WOS:000343515900001
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
推荐引用方式 GB/T 7714	Wang, Jialiang,Zhao, Hai,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, Hai.,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.