Adaptive Formation Algorithm for Dynamic Environment Based on Improved SOM Network

This paper proposed an adaptive formation algorithm for dynamic environment based on improved SOM network. By weights iteration, the SOM network can balance trajectory planning, target formation position adjustment, and allocation relationship adjustment in dynamic environment, to achieve the process of adaptive formation establishment. In addition, this article also proposes a new optimal allocation algorithm based on formation time. When the target formation is unreachable, this article proposes an iterative update strategy and a switching strategy based on unfalsified control to adjust it. Finally, the practicability of the algorithm was demonstrated through simulation experiments.