Formation Control And Obstacle Avoidance For Multi-agent System

In recent years, the swarming control of multi-agent systems as a new type of decentralized control method has caused great attention in the field of intelligent system in the domestic and overseas. The research subject in this paper stems from the cooperative project for the soccer robots between the East China University of Science and Technology and the Malardalen University in Sweden, and includes a detail research in terms of the obstacle avoidance control, the formation control as well as the consensus of movement of multi-agent system respectively.Firstly, this paper elaborates the research background of this topic from the viewpoint of multi-agent system theory and swarming control, and compares the different development status at home and abroad, as well as points out the issue has important theoretical and practical significance.Secondly, the thesis on the obstacle avoidance problem of multi-agent system is analyzed and described, and the limit ring theory is introduced in this paper and combined with the traditional artificial potential field method in order to compensate the obstacle avoidance defect of the artificial potential field method in complex obstacle environment, and then the simulation results of the obstacle avoidance algorithms before and after the improvement are shown and compared.Thirdly, this paper also focuses on the formation control issues of multi-agent system based on the consensus theory in the two-dimensional space and puts forward a new improved formation algorithm. Moreover, the obstacle avoidance rule is applied to the formation control either which have formed the Swarm motion model. In addition, the thesis also utilizes the Lennard-Jone model and introduces the concept of leadership nodes and common nodes in the multi-agent system, and then the group force mobility model is presented to deal with the left behind problem for the multi-agent formation movement. Through the simulation experiments, the group coordinated movements such as the aggregation, obstacle avoidance, formation control and dynamic link of the multi-agent system are realized effectively.Finally, the full text content is summarized and the further research in the aspects of obstacle avoidance and formation control of multi-agent system is prospected.