Obstacle and Collision Avoidance Control Laws of a Swarm of Boids

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

• Bibhya Sharma
• Jito Vanualailai
• Jai Raj

• Lyapunov-based Control Scheme
• Motion planning
• Practical stability
• Swarm.

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