Research On Methods Of Formation Control Of CGF

Formation control of multi-agent system is one of the research focuses of multi-agent system.In the real world, vulnerable groups will form and keep a specific formation when confronting withintrusion from the enemy. The migration of fish or birds also needs to keep a formation. Researchersare inspired from this phenomenon; they introduced the formation control into multi-agent systems.This application is used more and more widely especially in the military affairs. The soldiers keep aformation to form a whole system, and this would have a far impact to improve the combateffectiveness. In the combat simulation, the soldiers are replaced by the computer generated forces(CGF). Agent is the basic unit of the forces model, so research on formation control of multi-agentsystem is very important.In the first, the theory of multi-agent system is briefly introduced, including theorems aboutarchitecture, path planning, communication of multi-agent system and the methods of formationcontrol and obstacle avoidance. Among these the leader-follower method and the method based onartificial potential field are analyzed exhaustively.In the second, through the research of the formation control, the leader-follower and the methodbased on artificial potential field are used to design algorithm and simulation test. The method basedon behavior is pulled into the leader-follower method. Moreover the tool of logical inference SOARis used to realize the behavior selection, which improves the efficiency of behavior selection andmeanwhile makes the physical meaning of the behavior more clear. It has proposed a way in thisessay for the problem that if the velocity of the leader agent is too high that the follower cannot catchup. In this essay the tangent is used for avoiding obstacles. For the method based on artificialpotential field, through the research of the electric potential theory, the forces which are betweenagent or agent and goal location or agent and obstacle are designed. The simulation experiment istaken place.At last, based on the project in the laboratory, the method discussed in this essay is used in itand the effectiveness is ensured.