Behavior analysis in free space and obstacle environment of swarm robot systems based on vicsek model

In order to explain the phenomena of swarm systems form a synchronization behavior, a simple style of Boid model- Vicsek model is adopted. Vicsek model establish a mathematical model of the swarm agent's synchronization. The self-organization regulations have been proposed to aim directly at three components: flock centering, direction coincidence, collision avoidance. We attempt to show the reasons why individuals in the natural world can get synchronization, and implement obstacle collision avoidance of the swarm system using artificial coordination fields. The simulation experimental results show that this strategy can achieve swarm-robot's synchronization, and can avoid collision between the agent and the obstacle.