an improved fast flocking algorithm with obstacle avoidance for multiagent dynamic systems

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2014
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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.
Reference Key
wang2014journalan Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors ;Jialiang Wang;Hai Zhao;Yuanguo Bi;Shiliang Shao;Qian Liu;Xingchi Chen;Ruofan Zeng;Yu Wang;Le Ha
Journal Chemico-biological interactions
Year 2014
DOI 10.1155/2014/659805
URL
http://dx.doi.org/10.1155/2014/659805
Keywords
Technology (General) meningitis mathematics therapeutics diseases of the musculoskeletal system life cycle assessment stenotrophomonas maltophilia supply chain critical care pharmacology first aid intensive care management engineeringsocial sciencescommercebusiness dynamic relationshipindustrial engineering

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