Analysis Of Collision-Avoidance Dynamics In Several Self-Organizing Systems

Based on the C-S model,this paper designs three cooperative mechanisms for collision avoidance.On this basis,from the three aspects of collision avoidance,swarming and flocking,this paper studies the group dynamic behavior of self-organizing system,and obtains the following results:Firstly,the attractive force and the repulsive force are introduced into the C-S model,and the influence mechanism of their interaction on the group behavior of the system is considered.It is concluded that there will be no collision between agents under the repulsive force in the system when the repulsion force intensity function meets the given conditions.At the same time,the distance between agents in the system will remain bounded when intensity function of the attractive force and the initial conditions meet the given relationship.The conclusion also gives the sufficient conditions for the system to exhibit swarming and flocking phenomena.Secondly,based on the movement tendency between agents,the collision-avoidance cooperation mechanism is designed and the group behavior characteristics of the system are studied.The cooperation mechanism will change with the movement trend between agents in the system,so as to avoid collision.Furthermore,on the basis of collision avoidance,the time asymptotic flocking and finite-time flocking of the system under linear and non-linear velocity terms are studied,and the corresponding sufficient conditions are given respectivelyThirdly,based on the relative distance between agents,a collision-avoidance coordination mechanism is designed and the group behavior characteristics of the system are studied.The coordination mechanism will change with the distance between agents.When the distance between agents is small,it provides a repulsive force to avoid collision,and when the distance between agents is large,it provides an attractive force to ensure that the position diameter of the system is bounded.The conclusion points out that the collision-avoidance and group aggregation of the system are affected by the cooperative mechanism.The results also give sufficient conditions for the system to appear collision-avoidance,swarming and flocking.Fourthly,based on the movement tendency between agents,a discontinuous controller is designed and the group behavior of the system are studied.On the basis of collision-avoidance,the effects of two intensity functions on the flocking behavior of the system are studied,The upper and lower bounds of the distance between agents and the decay rate of the relative velocity between agents are estimated.Moreover,results of the finite-time flocking of the system are given on 1-D space.