¹College of Electric & Information Engineering, Lanzhou University of Technology, Lanzhou, P. R. China
²Department of chemical machinery, School of chemical technology, Qinghai University, Xining, P. R. China
³Complex System & Computational Intelligence Laboratory; Taiyuan University of Science & Technology, Taiyuan, P. R. China
⁴Social Science Department, Qinghai University, Xining, P. R. China
⁵Department of Environmental and Cultural Sciences, Faculty of Human Environment, General Science University of Nagasaki, Nagasaki, Japan

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Abstract—In nature there are many biological organisms show that the collective behavior in which implicating the potential interior operational principle. Based on the analysis of various biological swarms of dynamic aggregation mechanism, the swarm’s flocking motion, obstacle avoidance and formation behaviour control was studied based on intelligent agents that have limited detection range, an isotropic perceived group dynamic model is proposed in this paper. The theoretical analysis confirm that, based on the strategy of combining artificial potential with velocity consensus, under an interplay between linearly bounded attraction and unbounded repulsion force among the individuals in the group, as a result of security safeguard of the safe distance between individuals, the individuals in the group during the course of coordinative motion can realize the local collision-free stabilization of particular predefined a desired symmetric geometrical configuration formation and mutual aggregating behaviour. Better self-adaptability of surrounding environment is embodied out in the proposed model. The results of simulation show that the algorithm is valid.

Index Terms—limited-range perceived groups; flocking motion control; obstacle avoidance; formation behaviour control; stabilization; the swarm system

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Cite: Zhibin Xue, Jianchao Zeng, Caili Feng, Zhen Liu, "Flocking Motion, Obstacle Avoidance and Formation Control of Range Limit Perceived Groups Based on Swarm Intelligence Strategy," Journal of Software vol. 6, no. 8, pp. 1594-1602, 2011.