Formation Control Algorithm of Agents Based on Earth Mover’s Distance

Author:

Liu Bangquan1ORCID,Zhu Shaojun2ORCID,Sun Dechao3ORCID,Meng Yun1,Zhou Guangyu1,Huang Lijun4

Affiliation:

1. College of Digital Technology and Engineering, Ningbo University of Finance & Economics, Ningbo, China

2. College of Information Engineering, Huzhou University, Huzhou, China

3. College of Electronics and Computer, Zhejiang Wanli University, Ningbo, China

4. Ningbo Foreign Economy & Trade Information Center, Ningbo, China

Abstract

Massive sport, such as unmanned aerial vehicle performance, often needs fast and efficient calculation of formation morphing and individual path planning. This paper introduces a novel fast formation control method of a crowd. First, we get the agents’ location in a 2D polygon with centroidal Voronoi tessellation and L-BFGS techniques. Then, we transform crowd formation shapes with a global shortest motion path pair assignment using earth mover’s distance algorithm. Finally, the repulsing force between agents and obstacles is calculated based on the recursive velocity observer method control agents’ motion. Extensive experimental results show the effectiveness and usefulness of our algorithm in 2D group formation transformation.

Funder

Natural Science Foundation of Zhejiang Province

Publisher

Hindawi Limited

Subject

General Engineering,General Mathematics

Reference32 articles.

1. Collective Crowd Formation Transform with Mutual Information-Based Runtime Feedback

2. Parallelized egocentric fields for autonomous navigation

3. Multi-robot formation control and simulation

4. Formation design platform of group calisthenics based on geometry-constrained mechanism;L. Zheng;Journal of Computer-Aided Design & Computer Graphics,2013

5. Motion planning in dynamic environments using velocity obstacles;P. Fiorini;International Journal of Robotics Research,1995

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3