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In order to improve the unreasonable behaviors of entities in traditional formation control, a new method with enhanced reality was presented. In the method, a following behavior based on trajectory was used to improve follower entities' performance in vertical direction and the follower entities' over-depending on leader entity was adjusted. Furthermore, the aim path-planning in formation change...
In order to improve the lack of reality and flexibility of the aim path-planning in traditional approximation method, a new method of formation change based on genetic algorithm was presented. By reducing the entities' sequences difference between initial formation and final formation, the chromosome coding and fitness function were designed. Furthermore, the algorithm was applied to a CGF simulation...
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