%0 Journal Article
	%A Bibhya Sharma and  Jito Vanualailai and  Jai Raj
	%D 2014
	%J International Journal of Mathematical and Computational Sciences
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 86, 2014
	%T Obstacle and Collision Avoidance Control Laws of a Swarm of Boids
	%U https://publications.waset.org/pdf/9997323
	%V 86
	%X This paper proposes a new obstacle and collision
avoidance control laws for a three-dimensional swarm of boids.
The swarm exhibit collective emergent behaviors whilst avoiding the
obstacles in the workspace. While flocking, animals group up in order
to do various tasks and even a greater chance of evading predators. A
generalized algorithms for attraction to the centroid, inter-individual
swarm avoidance and obstacle avoidance is designed in this paper.
We present a set of new continuous time-invariant velocity control
laws is presented which is formulated via the Lyapunov-based control
scheme. The control laws proposed in this paper also ensures practical
stability of the system. The effectiveness of the proposed control laws
is demonstrated via computer simulations

 

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