Flocking of multi-agents with arbitrary shape obstacle
Bixia Dai, Wei Li · 2014
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.