针对多智能体协作完成特定任务时难以在全自主控制的前提下协作形成任意队形和队形向量不易确定的问题 ,通过由各智能体自主简单的确定自己的队形向量 ,从理论上扩展基于队形向量的队形控制原理以生成任意队形 ,改进机器人的运动方式以提高收敛速度 ,提出一种快速收敛的机器人部队任意队形分布式控制算法 .仿真结果表明 ,该算法可以形成任意队形 ,比现有控制算法的收敛速度快 ,队形收敛所需的时间仅为现有算法的 10 %左右 It is difficult to collaborate to form arbitrary formation and formation vectors which are difficult to be determined under the condition of fully autonomous control. It is difficult for each agent to determine its own formation vectors independently and theoretically. Based on the formation vector control theory of formation to generate arbitrary formation and improve the movement of the robot to improve the convergence rate, a fast convergent arbitrary formations-based distributed control algorithm for the robot force is proposed.The simulation results show that the algorithm can form arbitrary The formation rate is faster than the existing control algorithms, and the time needed for the formation to converge is only about 10% of the existing ones