Research On Flock Formation Control Method Based On Geometry-constrained Mechanism

Flock/crowd formation control technology can enhance the system cooperationand reliability as well as simulate the natural flock behavior, thus has manyapplications. The dissertation focuses on geometry-constrained mechanism, andpresents an innovative theory for flock formation control based onMCL(Morphing-CVT-Lloyd) algorithm, which combines morphing, centroidalVoronoi tessellation(CVT) and Lloyd techniques to solve the problems such asformation constrain, individual distribution layout, individual matching, motionpath planning, and environment obstacle avoiding.The main works of this dissertation are as follows:1) The state-of-the-art of the flock formation control method is summarized,and advantage and disadvantage of existing approaches are analyzed anddiscussed.2) A flock formation control method based on MCL(Morphing-CVT-Lloyd)geometry-constrained mechanism is proposed, which employs Morphingtechnique to impose process control to ensure smoothness of formationtransformation, introduces CVT theory to calculate the ideal and optimaldistribution layout of agents, and utilizes the fixed-point feature ofLloyd’s method to perform path planning and obstacle avoiding.3) Two key problems of the MCL algorithm are resolved. Variable domainLloyd descent is put forward to resolve the spatial domain problem causedby multi-constrained shape. To handle the environment obstacle avoidingproblem for the whole flock, a method named path-time domain basedmoving space modification is put forward in order to preserve certainformation as much as possible while getting round obstacles.4) The system platform is implemented and experiments are conducted.Results are compared and analyzed with existing approaches, whichfurther proved the superiority of the proposed method in the dissertation.