Formation Control Algorithm of Agents Based on Earth Mover’s Distance
Joint Authors
Liu, Bangquan
Zhu, Shaojun
Sun, Dechao
Meng, Yun
Zhou, Guangyu
Huang, Lijun
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-10-14
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Liu, Bangquan& Zhu, Shaojun& Sun, Dechao& Meng, Yun& Zhou, Guangyu& Huang, Lijun. 2020. Formation Control Algorithm of Agents Based on Earth Mover’s Distance. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1195188
Modern Language Association (MLA)
Liu, Bangquan…[et al.]. Formation Control Algorithm of Agents Based on Earth Mover’s Distance. Mathematical Problems in Engineering No. 2020 (2020), pp.1-10.
https://search.emarefa.net/detail/BIM-1195188
American Medical Association (AMA)
Liu, Bangquan& Zhu, Shaojun& Sun, Dechao& Meng, Yun& Zhou, Guangyu& Huang, Lijun. Formation Control Algorithm of Agents Based on Earth Mover’s Distance. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1195188
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1195188