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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
Department机器人学研究室
Source PublicationJOURNAL OF APPLIED MATHEMATICS
ISSN1110-757X
2014
Volume2014Pages:1-13
Indexed BySCI
WOS IDWOS:000343515900001
Contribution Rank2
Funding OrganizationNational 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]
KeywordActive Suspension Systems Vehicle
AbstractFlocking 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.
Language英语
WOS HeadingsScience & Technology ; Physical Sciences
WOS SubjectMathematics, Applied
WOS KeywordACTIVE SUSPENSION SYSTEMS ; VEHICLE
WOS Research AreaMathematics
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/15277
Collection机器人学研究室
Corresponding AuthorBi, Yuanguo
Affiliation1.College of Information Science & Engineering, Northeastern University, Shenyang 110819, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
Recommended Citation
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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