Formation Transformation Based on Leader-Follower Algorithm

被引：4

作者：

Duan, Yanyu ^{[1
]}

Gao, Zhiqiang ^{[1
]}

Peng, Zhensheng ^{[1
]}

Yang, Wenshuai ^{[1
]}

Wang, Yun ^{[1
]}

机构：

[1] Engn Univ Peoples Armed Police, Xian, Shaanxi, Peoples R China

来源：

INTERNATIONAL JOURNAL OF TECHNOLOGY AND HUMAN INTERACTION | 2019年 / 15卷 / 03期

关键词：

Behavior-Based Control; Collision Avoidance And Control; Follower-Leader Algorithm; Formation Control; Formation Transformation; Genetic Algorithm; Greedy Algorithm; NONHOLONOMIC MOBILE ROBOTS; GREEDY ALGORITHM; MULTIAGENT SYSTEMS; GENETIC ALGORITHM; OPTIMIZATION; AVOIDANCE; CONSENSUS;

D O I：

10.4018/IJTHI.2019070103

中图分类号：

G25 [图书馆学、图书馆事业]; G35 [情报学、情报工作];

学科分类号：

1205 ; 120501 ;

摘要：

A method based on the leader-follower algorithm is proposed for transformation among the formations. The introduction of the greedy algorithm, behavior-based control and virtual structure help realize the region division and the calculation of the distribution of the leaders and followers in target formation. Collision detection and collision avoidance are proposed to solve path conflicts with error free feedback and effectively maintain the stability of motion. The modeling of transformation is simulated by the shape from a line to a wedged, in which the formation is adjusted by the distance difference obtained by feedback. The experimental results show that it is feasible and effective to implement the formation conversion and formation control, and the system possess a better robustness and stability.

引用

页码：28 / 46

页数：19

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