Massive sport, such as unmanned aerial vehicle performance, often needs fast and efficient calculation of formation morphing and individual path planning. This paper introduces a novel fast formation control method of a crowd. First, we get the agents’ location in a 2D polygon with centroidal Voronoi tessellation and L-BFGS techniques. Then, we transform crowd formation shapes with a global shortest motion path pair assignment using earth mover’s distance algorithm. Finally, the repulsing force between agents and obstacles is calculated based on the recursive velocity observer method control agents’ motion. Extensive experimental results show the effectiveness and usefulness of our algorithm in 2D group formation transformation.

中文翻译：

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基于推土机距离的智能体编队控制算法

诸如无人驾驶飞行器性能之类的大规模运动通常需要快速有效地计算编队变形和个人路径规划。本文介绍了一种新颖的人群快速编队控制方法。首先，我们利用质心Voronoi细分和L-BFGS技术获得了2D多边形中的特工位置。然后，我们使用推土机的距离算法使用全局最短运动路径对分配来变换人群形成形状。最后，根据递归速度观测器方法控制坐席的运动，计算坐席与障碍物之间的排斥力。大量的实验结果表明我们的算法在2D群组形成转换中的有效性和实用性。