{"title":"具有任意形状障碍物的多智能体群集","authors":"Bixia Dai, Wei Li","doi":"10.1109/CHICC.2014.6896818","DOIUrl":null,"url":null,"abstract":"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 results show the effectiveness of our methods.","PeriodicalId":246506,"journal":{"name":"Cybersecurity and Cyberforensics Conference","volume":"38 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":"{\"title\":\"Flocking of multi-agents with arbitrary shape obstacle\",\"authors\":\"Bixia Dai, Wei Li\",\"doi\":\"10.1109/CHICC.2014.6896818\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"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 results show the effectiveness of our methods.\",\"PeriodicalId\":246506,\"journal\":{\"name\":\"Cybersecurity and Cyberforensics Conference\",\"volume\":\"38 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-07-28\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"9\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Cybersecurity and Cyberforensics Conference\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CHICC.2014.6896818\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Cybersecurity and Cyberforensics Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CHICC.2014.6896818","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Flocking of multi-agents with arbitrary shape obstacle
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 results show the effectiveness of our methods.
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