多智能体备用领导者避障方法

Obstacle Avoidance of Multi-Agent System with Standby Leader

针对传统势能函数避障方法易使群体陷入局部极小值,即多智能体不易绕过凹形障碍,基于势能函数,结合变换备用领导者机制和虚拟障碍方法,设计了多智能体集群避障算法。通过理论分析证明了该算法的稳定性,并在matlab环境下仿真实验。仿真结果表明,在不需要知道有关障碍物几何信息的条件下,该方法能够有效避开凹形避障。

Aiming at the traditional potential energy function obstacle avoidance method,the group was trapped in the local minimum value,that is,the multi-agent is not easy to bypass the concave obstacle.The multi-agent cluster obstacle avoidance was designed based on the potential energy function combined with the alternate leader mechanism and the virtual obstacle method.The stability of the algorithm was proved by theoretical analysis,and the obstacle avoidance method of the group was simulated in the Matlab environment.The simulation results show that the method can effectively avoid the concave obstacle without knowing the geometric information of the obstacle.