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The collision avoidance is an ineviatable problem for swarm robots foraging in complex environment. The robot not only to avoid collision with other robots, but also to avoid collision with static obstacles in the environment. In this paper, a new control policy that make the best of use of quantitative superiority was designed based on the improved artificial potential force. In the control strategy,...
In order to explain the phenomena of swarm systems form a synchronization behavior, a simple style of Boid model- Vicsek model is adopted. Vicsek model establish a mathematical model of the swarm agent's synchronization. The self-organization regulations have been proposed to aim directly at three components: flock centering, direction coincidence, collision avoidance. We attempt to show the reasons...
The control algorithm on coordination behavior of a flocking system consists of three components; they are collision avoidance, cohesion and alignment. The three components are realized by application of interactions between the agents in the system as well as guidance of the environment. To achieve better coordination through interactions between agents, the concept of fuzzy neighborhood is introduced...
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