Research on Formation Behavior of Flock with Visual Guidance Algorithm

Formation behavior is a popular topic in the research field of flock. The impacts of visual perception on formation behavior are rarely considered in the existing formation models. These models just divide the neighbors into the state of visible and invisible by the perception radius. In this paper, the visual guidance algorithm is proposed. In the visual guidance algorithm, the agents' vision is subdivided to visual perception lines to perceive the obstacle information. A visual field matrix is set to store the obstacle information. By traversing the positive and negative directions of the visual field matrix, open area is determined. Finally, set the center point of the open area as the target point to adjust agents' motion direction. A simulation is provided to verify the effectiveness of the visual guidance algorithm.