Open Access
ARTICLE
Maintaining Complex Formations and Avoiding Obstacles for Multi-Agents
Yali Wang1, Youqian Feng1, Zhonghai Yin1, Cheng Zhou1, *
1 Department of Basic Courses, Air Force Engineering University, Xi’an, 710051, China.
* Corresponding Author: Cheng Zhou. Email: .
Computers, Materials & Continua 2020, 62(2), 877-891. https://doi.org/10.32604/cmc.2020.06423
Abstract
This paper researches some problems in complex formation for multi-agents,
in which two matrices are proposed to record the formation. The pattern matrix is used to
describe the pattern of the formation; meanwhile, the location matrix is used to record the
location of each agent. Thus, all desired positions of each agent will be obtained by
geometrical relationship on the basis of two matrices above. In addition a self-adaptation
flocking algorithm is proposed to control all agents to form a desired formation and avoid
obstacles. The main idea is as follows: agents will form a desired formation through the
method of formation control when far away from obstacles; otherwise, agents will freely
fly to pass through the area of obstacles. In the simulation, three scenarios are designed to
verify the effectiveness of our method. The results show that our method also can be
applied in three dimensions. All agents will form a stable formation and keep the same
velocity at last.
Keywords
Cite This Article
Y. Wang, Y. Feng, Z. Yin and C. Zhou, "Maintaining complex formations and avoiding obstacles for multi-agents,"
Computers, Materials & Continua, vol. 62, no.2, pp. 877–891, 2020.
Citations