Transactions of Nanjing University of Aeronautics & Astronautics
Multi-boid Flocking with Formation Control Using Local Sensing and Communication
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Abstract:
Behavior-based flocking has got remarkable attention in the recent past. The flocking algorithms can have inherent properties like organizing， healing and re-configuring for a distributed system. In this research we presented the emergent flocking behavior-based control. We defined the basis behavior and with variety of combination， and obtained a complex group behavior flocking. Unlike classical flocking， we implemented additional rules obstacle avoidance， formation and seek target which results in V-formation flocking while avoiding obstacles. We performed the visual simulation of our flocking algorithm using MATLAB. The results concluded that the multi-boid flock could successfully navigate to the target while avoiding collisions. This can be applied to areas where we need to maximize the coverage of sensors or minimize the risk of combative attack， both in military and civilian scenarios.
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V279
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