碰撞锥检测改进的多智能体避障算法

避障是多智能体能够适应复杂环境并顺利完成任务的必要条件之一。为使多智能体更快通过障碍物并达到一致，提出了一种多智能体避障控制算法。算法引入了避障系数，该系数由基于角度比较的碰撞锥检测方法来确定，并通过牵制控制输入完成多智能体的避障。证明了在该算法作用下所有智能体最终会避开障碍，避免碰撞并最终达到一致。通过实验仿真分析和对比，该方法能够使得多智能体更快避开障碍物。

Multi-agent Obstacle Avoidance Algorithm Improved by Collision Cone Detection

Obstacle avoidance is one of the necessary conditions for multi-agents to adapt to complex environments and successfully complete tasks. In order to make multi-agents pass obstacles faster and achieve consensus, a multi-agent obstacle avoidance control algorithm is proposed. An obstacle avoidance coefficient is proposed, which is determined by the collision cone detection method based on angle comparison, and the obstacle avoidance of the agent is completed by the control input and the obstacle avoidance coefficient. It is proved that all the agents in the algorithm eventually avoid obstacles, avoid collisions and reach consensus. Through experimental simulation analysis and comparison, this method can make multi-agents pass obstacles more quickly.