【摘要】 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.更多还原

【Abstract】 The problems was investigated that of tracking and formation for multi-agent systems in a space existed obstacles.To solve the problems of local minimum and poor dynamic performance in potential field for single agent,the traditional potential function was melierated,and a novel velocity potential is constructed.Furthermore,the formation control was considered,which for multi-agent systems under different conditions,including there was no obstacle in the environment,static obstacles were distributed in the environment,static and moving obstacles were both spaced in the environment.Proper potential function concerning with target,obstacle and the structure of the formation was chosen to design a novel distributed formation and obstacle avoidance algorithm.Simulation studies show that the proposed algorithm effectively solve the problems of formation and obstacle avoidance for multi-agent systems.更多还原