论文标题
具有避免障碍物和尺寸缩放的多机构系统的动态圆形形成：一种羊群
Dynamic Circular Formation Of Multi-Agent Systems With Obstacle Avoidance And Size Scaling: A Flocking Approach
论文作者
论文摘要
用羊群的形成控制是一种有效的方法，可以在不确定剂的位置的情况下达到构造。本文着重于以二阶多代理系统的特定几何模式到达领导者或目标周围的圆形形成。这意味着多边形形成是在任意初始条件下形成的。为了创建圆形形成，已将两个潜在函数项用于代理代理和领导者的相互作用。在我们的方法中，如果在圆形形成过程中发生某些断层并且某些药物失败，则常规多边形形成仍会与较少的代理形成。可以保证避免单圈形成和无碰撞运动的障碍物。提出了具有尺寸缩放的圆形形成，以更好地动作并穿过障碍物。同样，可以随着代理领势函数的变化而达到带有所需半径的几个圆圈。在这项工作中，比较具有不同方案的优化算法以计算我们算法的参数。
Formation control with the flocking approach is an efficient method that can reach the formation without determining the agent's position. This paper focuses on reaching the circular formation around the leader or target with a specific geometric pattern for the second-order multi-agent system. This means that the polygon formation is formed with arbitrary initial conditions. To create the circular formation, two potential function terms have been used for agent-agent and leader-agent interaction. In our approach, if some faults occur during the circular formation and some agents fail, the regular polygon formation will still form with fewer agents. Obstacle avoidance for a single-circle formation and collision-free motion is guaranteed. A circular formation with size scaling is proposed to better maneuver and pass through obstacles. Also, several circles with the desired radius can be reached with changes in the agent-leader potential function. In this work, optimization algorithms with different scenarios are compared to calculate the parameters of our algorithm.
