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: | https://repository.usp.ac.fj/id/eprint/8287 |
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