一种基于势能函数的多智能体编队控制新方法

提出一种针对移动障碍物的编队控制方法．在二次积分模型的基础上，采用了采用了势能函数 进行控制设计，该势能函数是基于电势场的概念提出的．在智能体和障碍物之间采用基于位置并加以速度修 正的势能函数，在智能体之间采用基于位置信息的势能函数．状态反馈的策略则用于控制智能体向目标移动． 此方法减小了整个势能场的复杂度，降低了局部极小值产生的可能．文章证明了这种控制方法的稳定性，并 用仿真说明了此种策略的控制效果．

A New Formation Control Method Based on Potential Function for Multi-Agent

A formation control method for moving obstacles is proposed.Based on the double integrator model,a control strategy is designed by using potential function which is proposed from the perspective of electric potential.Position potential function adjusted with velocity information is adopted between agents and obstacles,while position potential function is used between agents.State feedback method is applied to control the agents moving toward the goals.This strategy makes the whole potential field simpler an...