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.
Motion Planning and Control of a Swarm of Boids in a 3-Dimensional Space
2014-01-03
oai:zenodo.org:1090508
Article (Journal)
Electronic Resource
English
DDC: | 629 |
ENGINEERING NOTEBOOK - Testing for the "boids."
Online Contents | 2005
Analysis of the Collective Behavior of Boids
Springer Verlag | 2020
|Analysis of the Collective Behavior of Boids
TIBKAT | 2020
|