Modified Flocking Control Algorithm Avoiding Obstacles with Virtual Leader

Abstract:

In the presence of obstacles, the existing flocking control algorithms with virtual leader dont always pass through the obstacles smoothly, especially for wall obstacles. In the paper, a modified flocking control algorithm with virtual leader is proposed, by analysis and simulation, the results show the modified flocking control algorithm can pass through the obstacles smoothly, including the wall obstacles.

• Periodical: Applied Mechanics and Materials (Volumes 475-476)
• Pages: 648-651
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.475-476.648
• Online since: December 2013
• Authors: Huan Xin Peng*, Bin Liu, Jian Guo Yin
• Keywords: Flocking, Multi-Agent System (MAS), Virtual Leader-Follower

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DOI: 10.1109/robot.2010.5509668