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Dynamic Circular Formation Of Multi-Agent Systems With Obstacle Avoidance And Size Scaling:A Flocking Approach

Seyed Mohammad Mahdi Seyed SajadiHajar Atrianfar
Dec 2022
摘要
Formation control with the flocking approach is an exciting method that canreach the formation without determining the agent's position. This paperfocuses on circle formation around the leader or target with geometricproperties for the second-order-agent system. This means that the polygon formation is formed with any initial conditions.To create the circular formation, two potential function terms have been usedbetween agent-agent and agent-leader. In our approach, if some fault occurs during the circular formation and someagents fail, the regular polygon formation will still form with fewer agents.Obstacle avoidance for a single-circle formation and collision-free motion isguaranteed. A circular formation with size scaling is proposed to better passthrough obstacles. Also, several circles with the desired radius can be reachedwith changes in the agent-leader potential function. In this work, optimizationalgorithms with different scenarios compare to obtain the parameters of ouralgorithm.
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