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利用势函数方法,研究了多智能体在障碍物环境下的追击编队控制.为解决单个智能体在势场中存在局部极小点与动态性能不好问题,引入速度势场建立新的势场函数.并研究了多智能体在不同环境下的编队控制,其中包括无障碍物环境,静态障碍物环境,以及静态障碍物和动态障碍物并存的复杂环境.通过选择与目标,障碍物和编队队形相关的势场函数,提出一种新的分布式编队避障控制算法.仿真结果表明所提算法能有效地解决多智能体编队避障问题.
Using potential function method, the formation control of multi-agent under obstacle environment is studied.In order to solve the problem that a single agent has some local minimum points and poor dynamic performance in potential field, a new potential field is introduced by introducing velocity potential field Function, and studies the formation control of multi-agent in different environments, including obstacle-free environment, static obstacle environment and the complicated environment of static obstacle and dynamic obstacle.Through the selection of objects, obstacles and formation A new distributed formation obstacle avoidance control algorithm is proposed.The simulation results show that the proposed algorithm can effectively solve the multi-agent formation obstacle avoidance problem.