Design of swarm control based on Vicsek model

Hongli Hu; Fuquan Zhu; Liping Yang; Weiyi Ren

doi:10.1117/12.3011974

7 December 2023 Design of swarm control based on Vicsek model

Hongli Hu, Fuquan Zhu, Liping Yang, Weiyi Ren

Proceedings Volume 12941, International Conference on Algorithms, High Performance Computing, and Artificial Intelligence (AHPCAI 2023); 129414Z (2023) https://doi.org/10.1117/12.3011974
Event: Third International Conference on Algorithms, High Performance Computing, and Artificial Intelligence (AHPCAI 203), 2023, Yinchuan, China

Abstract

In the movement of biological clusters, group members tend to have a common purpose and exchange information within a certain range. Vicsek model and artificial potential field method are inspired by biological swarm motion and have been widely used in the field of swarm intelligence of UAV. In this study, a new idea is proposed, which is improved on the basis of the original model, and an enhanced Vicsek group movement model is established. The main force of the obstacles in this model is always perpendicular to the direction of group movement, and the repulsive effect of the obstacles is described by improving the repulsion function of traditional artificial potential fields. Through theoretical derivation and experimental comparative analysis, it can be concluded that the new model effectively improves the efficiency of group obstacle avoidance. In this paper, a simulation experiment is carried out under the condition of a single obstacle. The simulation results show that compared with the traditional artificial potential field method, the obstacle avoidance time is shortened, and it has better adaptability and effectiveness. In the entire group obstacle avoidance process, the number of collision individuals and obstacle avoidance time of this algorithm are greatly improved compared with the traditional limit cycle obstacle avoidance method.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Hongli Hu, Fuquan Zhu, Liping Yang, and Weiyi Ren "Design of swarm control based on Vicsek model", Proc. SPIE 12941, International Conference on Algorithms, High Performance Computing, and Artificial Intelligence (AHPCAI 2023), 129414Z (7 December 2023); https://doi.org/10.1117/12.3011974

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