摘要：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.
关键词：limited-range perceived groups;flocking motion control;obstacle avoidance;formation behaviour control;stabilization;the swarm system
