An Improved Fast Flocking Algorithm with Obstacle Avoidance for Multiagent Dynamic Systems
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 i...
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| Main Authors: | , , , , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | Journal of Applied Mathematics |
| Online Access: | http://dx.doi.org/10.1155/2014/659805 |
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| _version_ | 1832568202947723264 |
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| author | Jialiang Wang Hai Zhao Yuanguo Bi Shiliang Shao Qian Liu Xingchi Chen Ruofan Zeng Yu Wang Le Ha |
| author_facet | Jialiang Wang Hai Zhao Yuanguo Bi Shiliang Shao Qian Liu Xingchi Chen Ruofan Zeng Yu Wang Le Ha |
| author_sort | Jialiang Wang |
| collection | DOAJ |
| description | 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 algorithm is 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. |
| format | Article |
| id | doaj-art-2b64d27f06014f61b7f46cd403f924a0 |
| institution | Kabale University |
| issn | 1110-757X 1687-0042 |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Applied Mathematics |
| spelling | doaj-art-2b64d27f06014f61b7f46cd403f924a02025-02-03T00:59:27ZengWileyJournal of Applied Mathematics1110-757X1687-00422014-01-01201410.1155/2014/659805659805An Improved Fast Flocking Algorithm with Obstacle Avoidance for Multiagent Dynamic SystemsJialiang Wang0Hai Zhao1Yuanguo Bi2Shiliang Shao3Qian Liu4Xingchi Chen5Ruofan Zeng6Yu Wang7Le Ha8College of Information Science & Engineering, Northeastern University, Shenyang 110819, ChinaCollege of Information Science & Engineering, Northeastern University, Shenyang 110819, ChinaCollege of Information Science & Engineering, Northeastern University, Shenyang 110819, ChinaShenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, ChinaCollege of Information Science & Engineering, Northeastern University, Shenyang 110819, ChinaCollege of Information Science & Engineering, Northeastern University, Shenyang 110819, ChinaCollege of Information Science & Engineering, Northeastern University, Shenyang 110819, ChinaCollege of Information Science & Engineering, Northeastern University, Shenyang 110819, ChinaCollege of Information Science & Engineering, Northeastern University, Shenyang 110819, ChinaFlocking 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 algorithm is 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.http://dx.doi.org/10.1155/2014/659805 |
| spellingShingle | Jialiang Wang Hai Zhao Yuanguo Bi Shiliang Shao Qian Liu Xingchi Chen Ruofan Zeng Yu Wang Le Ha An Improved Fast Flocking Algorithm with Obstacle Avoidance for Multiagent Dynamic Systems Journal of Applied Mathematics |
| title | An Improved Fast Flocking Algorithm with Obstacle Avoidance for Multiagent Dynamic Systems |
| title_full | An Improved Fast Flocking Algorithm with Obstacle Avoidance for Multiagent Dynamic Systems |
| title_fullStr | An Improved Fast Flocking Algorithm with Obstacle Avoidance for Multiagent Dynamic Systems |
| title_full_unstemmed | An Improved Fast Flocking Algorithm with Obstacle Avoidance for Multiagent Dynamic Systems |
| title_short | An Improved Fast Flocking Algorithm with Obstacle Avoidance for Multiagent Dynamic Systems |
| title_sort | improved fast flocking algorithm with obstacle avoidance for multiagent dynamic systems |
| url | http://dx.doi.org/10.1155/2014/659805 |
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