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Journal of Applied Mathematics
Volume 2014, Article ID 659805, 13 pages
Research Article

An Improved Fast Flocking Algorithm with Obstacle Avoidance for Multiagent Dynamic Systems

1College of Information Science & Engineering, Northeastern University, Shenyang 110819, China
2Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China

Received 8 October 2013; Revised 12 May 2014; Accepted 24 May 2014; Published 24 June 2014

Academic Editor: Jin L. Kuang

Copyright © 2014 Jialiang Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Flocking behavior is a common phenomenon in nature, such as flocks of birds and groups of fish. In order to make the agents effectively avoid obstacles and fast form flocking towards the direction of destination point, this paper proposes a fast multiagent obstacle avoidance (FMOA) algorithm. FMOA is illustrated based on the status of whether the flocking has formed. If flocking has not formed, agents should avoid the obstacles toward the direction of target. If otherwise, these agents have reached the state of lattice and then these agents only need to avoid the obstacles and ignore the direction of target. The experimental results show that the proposed FMOA algorithm has better performance in terms of flocking path length. Furthermore, the proposed FMOA algorithm is applied to the formation flying of quad-rotor helicopters. Compared with other technologies to perform the localization of quad-rotor helicopter, this paper innovatively constructs a smart environment by deploying some wireless sensor network (WSN) nodes using the proposed localization algorithm. Finally, the proposed FMOA algorithm is used to conduct the formation flying of these quad-rotor helicopters in the smart environment.