A multi-agent flocking oriented obstacle avoidance algorithm

作者：Zhao Hai; Liu Qian^*; Shao Shi Liang; Li Da Zhou

来源：Journal of Northeastern University, 2014, 35(3): 347-350.

DOI：10.3969/j.issn.1005-3026.2014.03.010

• Artificial potential fields
• Experimental verification
• Flocking
• Flocking algorithms
• Multi-agent
• Obstacle avoidance algorithms
• Potential function
• Tangent

The problem of obstacle avoidance is important in multi-agent flocking. Each agent should avoid obstacles safely, and then moves toward the target. Based on the existing artificial potential field flocking algorithm, an improved algorithm with obstacle avoidance capability was presented. In this algorithm, the obstacle was equivalent to a virtual agent for obstacle avoidance. Obstacle avoidance were not taken immediately when the agent perceived obstacles, but take the speed direction of the agent and the target point into consideration. According to different speed directions and position of the target, different obstacle avoidance measures will be taken. Through theoretical analysis and experimental verification, obstacles could be avoided efficiently based on the proposed algorithm, which can make the flocking faster.

• 出版日期2014
• 单位东北大学