A new Cucker-Smale flocking model based on directional limit-cycle

Abstract:

This paper aims at the obstacle avoidance problem for swarm in a multi-obstacle environment. Based on the improved Cucker-Smale swarm motion model and limit-cycle obstacle avoidance algorithm, we propose a new CS flocking model. In this model, we improve the multi-obstacle merging method, introduce the well-directed movement rules. The simulation results show that in the entire swarm obstacle avoidance process, the number of collision individuals and obstacle avoidance time of the algorithm are improved compared with the traditional limit cycle obstacle avoidance method.