[2] [2] CAMAZINE S, DENEUBOURG J L, FRANKS N R, et al.Self-organization in biological systems［M］.Princeton:Princeton University Press, 2001.

[10] [10] LEONARD N E, FIORELLI E.Virtual leaders, artificial potentials and coordinated control of groups［C］//Proceedings of the 40th IEEE Conference on Decision and Control (Cat.No.01CH37228).Orlando, FL:IEEE, 2001:2968-2973.

[12] [12] KHATIB O.Real-time obstacle avoidance for manipulators and mobile robots［M］//COX I J,WILFONG G T.Autonomous robot vehicles.New York:Springer, 1986:396-404.