Formation Control of Multi-agent Systems with Obstacle Avoidance Function
The formation obstacle avoidance control problem of multi-agent systems was studied for multiple anonymous agents in the two-dimensional plane.The goal is to make the anonymous agents randomly distributed in the plane complete the obstacle avoidance progressive convergence to the target circle within the specified time,and then complete the specified formation on the circle according to the formation control law.Based on the artificial potential field method,the function of avoiding obstacles was realized,and the problem that the agent cannot move in the local minimum area was solved by adding random disturbance.The Lyapunov function was introduced and the stability of the control law designed was proved by theorem.Finally,the effectiveness of the obstacle avoidance function and the accuracy of the control law were proved by simulation.
multi-agent systemdistributed controlartificial potential field methodcircular formation
万方数据
维普
