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

Liu Bangquan; Zhu Shaojun; Sun DechaoMeng YunZhou GuangyuHuang Lijun

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

机译：基于土动距离的智能体编队控制算法

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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.

机译：大型运动，如无人机性能，往往需要快速有效地计算编队变形和单个路径规划。本文介绍了一种新的人群快速编队控制方法。首先，我们使用质心 Voronoi 镶嵌和 L-BFGS 技术在 2D 多边形中获取智能体的位置。然后，我们使用推土机的距离算法，通过全局最短运动路径对分配来变换人群形成形状。最后，基于递归速度观测器方法控制智能体的运动，计算智能体与障碍物之间的排斥力。大量的实验结果表明，该算法在二维群形成变换中的有效性和实用性。

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《Mathematical Problems in Engineering: Theory, Methods and Applications》 |2020年第36期|4383915.1-4383915.10|共10页
作者
Liu Bangquan; Zhu Shaojun; Sun DechaoMeng YunZhou GuangyuHuang Lijun;
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作者单位

Zhejiang Wanli Univ, Coll Elect & Comp, Ningbo, Peoples R China;

Ningbo Univ Finance & Econ, Coll Digital Technol & Engn, Ningbo, Peoples R China;

Ningbo Foreign Econ & Trade Informat Ctr, Ningbo, Peoples R ChinaHuzhou Univ, Coll Informat Engn, Huzhou, Peoples R China;

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

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