基于定向极限环的Cucker-Smale群体避障模型

针对多障碍物环境下的群体避障问题,本文在改进Cucker-Smale(CS)群体运动模型和传统的极限环避障算法的基础上提出了一种基于定向极限环的CS群体避障模型.该模型改进了多障碍物的合并方式,引入了定向的运动规则.仿真结果显示,在整个群体避障过程中该算法的碰撞个体数和避障时间较传统的极限环避障法有较大的改善.

A new Cucker-Smale flocking model based on directional limit-cycle

Aiming at obstacle avoidance problem for swarm in a multi-obstacle environment, based on the improved Cucker-Smale swarm motion model and the traditional limit-cycle obstacle avoidance algorithm, we firstly improve the multi-obstacle merging method, introduce the " well-directed " movement rules, and then proposed a novel obstacle avoidance model for swarm, which names well-directed limit-cycle obstacle avoidance model. The simulation results show that in the entire swarm obstacle avoidance process, the number of collision individuals and obstacle avoidance time of the algorithm are greatly improved compared with the traditional limit cycle obstacle avoidance method, which verifies the feasibility and effectiveness of the proposed algorithm.