Formation Design Platform of Group Calisthenics Based on Geometry-Constrained Mechanism

Massive sports,such as group calisthenics,often involve rapid,smooth,fluent,and regular formation deformation.The paper introduces a novel geometric constraint method,which is combined with morphing,centroidal Voronoi tessellation(CVT) and Lloyd techniques,and puts forward a new group formation control solution for formation constrain,individual distribution layout,individual matching,motion path planning,and collision avoidance.In order to ensure the smoothness of deformation,morphing technology is used to generate a series of shapes between source formation and target formation as constrains.CVT methodology is utilized to compute the uniform layout of Agents in the constrained shape.Also due to the change of constraint shapes,improved Lloyd descent method,namely variable domain Lloyd descent,is applied to perform path planning and collision avoidance for the crowd.Finally,the computer aided system is built to effectively improve the design quality and efficiency of group calisthenics and other massive team sports.