Obstacle and Collision Avoidance Control Laws of a Swarm of Boids

Sharma, Bibhya N. and Vanualailai, Jito and Raj, Jai (2014) Obstacle and Collision Avoidance Control Laws of a Swarm of Boids. International Journal of Mathematical, Computational Science and Engineering, 8 . pp. 253-258. ISSN 2070-3740

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Abstract

This paper proposes a new obstacle and collision avoidance control laws for a three-dimensional swarm of boids. The swarm exhibit collective emergent behaviors whilst avoiding the obstacles in the workspace. While flocking, animals group up in order to do various tasks and even a greater chance of evading predators. A generalized algorithms for attraction to the centroid, inter-individual swarm avoidance and obstacle avoidance is designed in this paper. We present a set of new continuous time-invariant velocity control laws is presented which is formulated via the Lyapunov-based control scheme. The control laws proposed in this paper also ensures practical stability of the system. The effectiveness of the proposed control laws is demonstrated via computer simulations.

Item Type:	Journal Article
Subjects:	Q Science > Q Science (General) Q Science > QA Mathematics
Divisions:	Office of the PVC (R&I) Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User:	Bibhya Sharma
Date Deposited:	28 May 2015 04:16
Last Modified:	26 May 2016 03:23
URI:	http://repository.usp.ac.fj/id/eprint/8287

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