Virtual Leader Based Multi-Agent Flocking Behavior

Flocking behavior of the production comes from the behaviors of birds,fish,ants and bees.Through exchanging local information with each individual,these groups produce unified behaviors of foraging,migration,homing,and other acts.Flocking is a large number of agents that interact with each other through a normal external command.The self-organizing of multi-agent develops the flocking behavior in engineering applications,including a large number of sensors mobile in the environment.the parallel and synchronous transmissions of media,and the reconnaissance,surveillance and combat collaboration in military tasks.In this paper,a single virtual leader of the multi-agent flocking control algorithm was studied.Its main targets are to study the case that only part agents have the inducting information and the cased that virtual leadership has the changing guiding paces.By means of the local perception of individuals and the corresponding reaction behaviors,the whol system presented a certain coordination behavior.