A Novel Method for Multiple Agent Formation Obstacle Avoidance Problem in the Complex Dynamic Environment

DOI

10.2991/icmii-15.2015.29How to use a DOI?

Keywords

Ant Colony Rotational Vectorial Artificial Potential Field Method; Multi-Agent Formation; Obstacle Avoidance Problem; Rotational Force; Complex Dynamic Environment

Abstract

In order to solve the problem of multiple agent formation obstacle avoidance problem in the complex dynamic environment, the Ant Colony Rotational Vectorial Artificial Potential Field (ACRVAPF) method is proposed. Aiming to improve the global optimization ability of the agents, the obstacle avoidance result of the Ant Colony Optimization (ACO) is used for the pretreatment. The real-time ability is improved because of the vectorization of the Artificial Potential Field (APF) method, and the local minimum problem is solved because of the addition of rotational force. The feasibility and effectiveness of the proposed method is verified which the ACRVAPF method is better than the others.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Jiyang Dai
AU  - Junqiang Xiong
AU  - Linfei Yin
AU  - Cunsong Wang
PY  - 2015/10
DA  - 2015/10
TI  - A Novel Method for Multiple Agent Formation Obstacle Avoidance Problem in the Complex Dynamic Environment
BT  - Proceedings of the 3rd International Conference on Mechatronics and Industrial Informatics
PB  - Atlantis Press
SP  - 154
EP  - 161
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmii-15.2015.29
DO  - 10.2991/icmii-15.2015.29
ID  - Dai2015/10
ER  -