A formation control strategy with virtual potential-point
Chen Song · Journal of Naval University of Engineering · 2011
The potential-field method is liable to fall into local minimum.For this reason,an obstacle avoidance algorithm based on virtual potential is designed.The algorithm adopts the force of the virtual potential to help the agents get out of the partial obstruction trap and restructure the formation.The agent can get out of the trap of local obstacles with the help of virtual potential points,thus making the formation to be reorganized,and enhancing the ability of formation.A single formation control method has difficulty in maintaining the efficiency when formation movements are made in diffe-rent terrain,with varying degrees of formation changes.Through the formation evaluation function,we can determine the current state of different control strategies and make full use of the advantages of various control strategies to enhance the capabilities of avoiding dynamic obstacles.The simulation result shows that the proposed algorithm is effective.