NDLI: Flocking behavior with multiple leaders and global trajectory

Content Provider	Springer Nature Link
Author	Li, Meng Liang, Jia hong Li, Shi lei
Copyright Year	2014
Abstract	Aiming at the group of autonomous agents consisting of multiple leader agents and multiple follower ones, a flocking behavior method with multiple leaders and a global trajectory was proposed. In this flocking method, the group leaders can attain the information of the global trajectory, while each follower can communicate with its neighbors and corresponding leader but does not have global knowledge. Being to a distributed control method, the proposed method firstly sets a movable imaginary point on the global trajectory to ensure that the center and average velocity of the leader agents satisfy the constraints of the global trajectory. Secondly, a two-stage strategy was proposed to make the whole group satisfy the constraints of the global trajectory. Moreover, the distance between the center of the group and the desired trajectory was analyzed in detail according to the number ratio of the followers to the leaders. In this way, on one hand, the agents of the group emerge a basic flocking behavior; on the other hand, the center of the group satisfies the constraints of global trajectory. Simulation results demonstrate the effectiveness of the proposed method.
Starting Page	2324
Ending Page	2333
Page Count	10
File Format	PDF
ISSN	20952899
Journal	Journal of Central South University of Technology
Volume Number	21
Issue Number	6
e-ISSN	22275223
Language	English
Publisher	Central South University
Publisher Date	2014-06-14
Publisher Place	Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	multi-agent system group of agents flocking behavior distributed control global trajectory Engineering Metallic Materials
Content Type	Text
Resource Type	Article
Subject	Metals and Alloys Engineering

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