Motion Planning and Control of a Swarm of Boids in a 3-Dimensional Space
نویسندگان
چکیده
In this paper, we propose a solution to the motion planning and control problem for a swarm of three-dimensional boids. The swarm exhibit collective emergent behaviors within the vicinity of the workspace. The capability of biological systems to autonomously maneuver, track and pursue evasive targets in a cluttered environment is vastly superior to any engineered system. It is considered an emergent behavior arising from simple rules that are followed by individuals and may not involve any central coordination. A generalized, yet scalable algorithm for attraction to the centroid and inter-individual swarm avoidance is proposed. We present a set of new continuous time-invariant velocity control laws, formulated via the Lyapunov-based control scheme for target attraction and collision avoidance. The controllers provide a collision-free trajectory. The control laws proposed in this paper also ensures practical stability of the system. The effectiveness of the control laws is demonstrated via computer simulations. Keywords—Swarm, Practical stability, Motion planning.
منابع مشابه
Obstacle and Collision Avoidance Control Laws of a Swarm of Boids
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...
متن کاملDesigning an Optimal Stable Algorithm for Robot Swarm Motion toward a Target
In this paper, an optimal stable algorithm is presented for members of a robots swarm moving toward a target. Equations of motion of the swarm are based on Lagrangian energy equations. Regarding of similar research On the design of swarm motion algorithm, an equation of motion considered constraints to guarantee no collision between the members and the members and obstacles along the motion pat...
متن کاملBi-product inventory planning in a three-echelon supply chain with backordering, Poisson demand, and limited warehouse space
In this paper, we apply continuous review (S-1, S) policy for inventory control in a three-echelon supply chain (SC) including r identical retailers, a central warehouse with limited storage space, and two independent manufacturing plants which offer two kinds of product to the customer. The warehouse of the model follows (M/M/1) queue model where customer demands follow a Poisson probabilit...
متن کاملOptimisation Of Boids Swarm Model Based On Genetic Algorithm And Particle Swarm Optimisation Algorithm (Comparative Study)
In this paper, we present two optimisation methods for a generic boids swarm model which is derived from the original Reynolds’ boids model to simulate the aggregate moving of a fish school. The aggregate motion is the result of the interaction of the relatively simple behaviours of the individual simulated boids. The aggregate moving vector is a linear combination of every simple behaviour rul...
متن کاملNetworking the Boids is More Robust Against Adversarial Learning
Swarm behavior using Boids-like models has been studied primarily using close-proximity spatial sensory information (e.g. vision range). In this study, we propose a novel approach in which the classic definition of boids’ neighborhood that relies on sensory perception and Euclidian space locality is replaced with graph-theoretic network-based proximity mimicking communication and social network...
متن کامل