多智能体网络编队避障控制

多智能体网络编队与避障控制旨在控制智能体,使它们保持一定的编队,同时躲避障碍物防止发生碰撞.通过建立与目标、障碍物和编队结构相关的势场函数,设计一种新的控制算法.为解决智能体在动态环境中不能有效躲避障碍物问题,建立一种速度势场,使智能体能很快地躲避动态障碍物.该算法具有易于实现的优点,因为控制是建立在智能体行为的基础上.仿真表明此方法具有有效性.

Formation and obstacle avoidance for multi-agent networks

The problems of formation and obstacle avoidance control for multi-agent networks were considered in this paper. The goal was to make the agents reach a desired formation while avoiding collision with obstacle. Proper potential function concerned with target, obstacle and structure of the formation, was chosen to design a novel distributed control algorithm. To solve the problem that agents could not effectively avoid the obstacle in dynanic environment, a new velocity potential was deduced, in which the agents could escape from a moving obstacle quickly. One advantage of the algorithm was that it was easy to implement,because control was based on general rules which determined behaviors of all agents.Simulations were provided to verify the effectiveness of the proposed approach.