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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
作者部门机器人学研究室
关键词Active Suspension Systems Vehicle
发表期刊JOURNAL OF APPLIED MATHEMATICS
ISSN1110-757X
2014
卷号2014页码:1-13
收录类别SCI
WOS记录号WOS:000343515900001
产权排序2
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]
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.
语种英语
WOS标题词Science & Technology ; Physical Sciences
WOS类目Mathematics, Applied
关键词[WOS]ACTIVE SUSPENSION SYSTEMS ; VEHICLE
WOS研究方向Mathematics
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/15277
专题机器人学研究室
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, 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.
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