Research on a new algorithm for the robot tracking problem

Liu, Yanfei; Zhang, Tongming; Yang, Jingjing

doi:10.1201/9781315375120-21

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2020

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“…erefore, it is necessary to realize the optimal movement control of the group and keep the number of the crowds unchanged. We apply the classical earth mover's distance (EMD) algorithm [31] to solve the global position assignment problem. e group formation transformation objective function is defined as…”

Section: Position Assignmentmentioning

confidence: 99%

Formation Control Algorithm of Agents Based on Earth Mover’s Distance

Liu

Zhu

Sun

et al. 2020

Mathematical Problems in Engineering

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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.

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Section: Position Assignmentmentioning

confidence: 99%