Impulsive Consensus Algorithms for Second-order Multi-agent Formation Based on the Improved Artificial Potential Field
Yijie Qin, Zhi‐Wei Liu, Lei Fu, Zhaorui Dong, Qihai Sun, Dingxin He · 2021
In this paper, the impulsive consensus problem for second-order multi-agent formation based on the improved artificial potential field (APF) is investigated. In order to control the agent, the motion model of the Mecanum wheel trolley is established. In order to realize the consensus of multi-agent system, a second-order impulsive model is used to control the formation. To avoid collisions during formation establishment, the improved APF method is introduced and applied, and the repulsive force field and attractive field potential function are improved to solve the local minimum value and target unreachable problems of APF. Finally, the simulation and experiment show the effectiveness of the proposed control algorithm.