A Multi-Agent Algorithm of Obstacle Avoidance Based on Vectorial Artificial Potential Field
Dai Ji-yan · Jisuanji fangzhen · 2015
In order to solve the collision avoidance and obstacle avoidance problem according to Multi-Agent formation through the obstacles area,an obstacle avoidance algorithm is optimized by the improved artificial potential field method,the Multi-Agent formation can effectively pass the obstacles area,and after passed the obstacles area,the Multi-Agent formed again. First,the Multi-Agent model is improved,Agent model is built based on the speed vector with a visualization range of speed. Then,the obstacle avoidance problem of Multi-Agent is solved using the Vectorial Artificial Potential Field(VAPF) method. Finally,by adding rotational to the force of agent,the agents can easily pass the obstacles area,and solve the local trouble. Simulation results verify the efficiency and validity of the method.