Abstract
A method based on the leader-follower method is proposed for formation transformation in large-scale mass incidents. The greedy algorithm is introduced to realize regional division and leader matching problem in target formation by constructing a distance matrix, and to calculate the distribution of followers. In order to solve the problem of path conflict without error feedback, collision detection and collision avoidance are proposed, which effectively avoids motion failure. Experiment of transforming the line formation into wedge-shaped formation is simulated, and the result shows that the proposed formation transform method is feasible and can effectively improve the efficiency of formation transformation.
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This work was supported by Shanxi Provincial Natural Science Foundation of China Youth (2015JQ6224) Colored Nodes and Network Complexity Measure Research.
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Duan, YY., Gong, QG., Peng, ZS., Wang, Y., Gao, ZQ. (2018). Improved Leader-Follower Method in Formation Transformation Based on Greedy Algorithm. In: Barolli, L., Zhang, M., Wang, X. (eds) Advances in Internetworking, Data & Web Technologies. EIDWT 2017. Lecture Notes on Data Engineering and Communications Technologies, vol 6. Springer, Cham. https://doi.org/10.1007/978-3-319-59463-7_70
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DOI: https://doi.org/10.1007/978-3-319-59463-7_70
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