Formation Transformation Based on Leader-Follower Algorithm

Yanyu Duan, Zhiqiang Gao, Zhensheng Peng, Wenshuai Yang and Yun Wang
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Yanyu Duan: Engineering University of the People's Armed Police, Xi'an, China
Zhiqiang Gao: Engineering University of the People's Armed Police, Xi'an, China
Zhensheng Peng: Engineering University of the People's Armed Police, Xi'an, China
Wenshuai Yang: Engineering University of the People's Armed Police, Xi'an, China
Yun Wang: Engineering University of the People's Armed Police, Xi'an, China

International Journal of Technology and Human Interaction (IJTHI), 2019, vol. 15, issue 3, 28-46

Abstract: A method based on the leader-follower algorithm is proposed for transformation among the formations. The introduction of the greedy algorithm, behavior-based control and virtual structure help realize the region division and the calculation of the distribution of the leaders and followers in target formation. Collision detection and collision avoidance are proposed to solve path conflicts with error free feedback and effectively maintain the stability of motion. The modeling of transformation is simulated by the shape from a line to a wedged, in which the formation is adjusted by the distance difference obtained by feedback. The experimental results show that it is feasible and effective to implement the formation conversion and formation control, and the system possess a better robustness and stability.

Date: 2019
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