Flocking of multi-agents with arbitrary shape obstacle

  title={Flocking of multi-agents with arbitrary shape obstacle},
  author={Dai Bixia and Li Wei},
  journal={Proceedings of the 33rd Chinese Control Conference},
  • Dai Bixia, Li Wei
  • Published 2014
  • Mathematics
  • Proceedings of the 33rd Chinese Control Conference
Flocking with obstacle avoidance of multi-agents is a significant problem. In this paper, a flocking algorithm in the presence of arbitrary shape obstacles avoidance is provided both in 2D space and 3D space. When obstacles are sensed by α-agents, β-agents which denote obstacles will guide the α-agent driving away from obstacles in a fastest route. We present an approach to determine the position and the velocity of β-agent which denote the repulsive effects of obstacles. Finally, simulation… 
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