Enhanced multi-agent systems formation and obstacle avoidance (EMAFOA) control algorithm

Abstract

Most of the multi-agent formation and obstacle avoidance algorithms in the literature are computationally expensive and/or presents an ad hoc method for a specific type of systems. A general inexpensive, in term of computational complexity, multi-agent formation and obstacle avoidance algorithm is modeled and designed in this paper. The method builds on the leader-follower strategy for the simplicity and applicability for a wide range of the engineering systems. A novel artificial potential function (APF) is proposed. The proposed function has unique attributes which differentiate it superior to what is reported in the literature. The proposed algorithm can be applied for first order systems, second order systems, and non-holonomic systems. Also, the proposed method is free of local minima problem and oscillations. In addition, a novel multi-agent system formation control design is proposed in this work. The proposed design allows to embed any formation in the system paradigm and reduces complexity. Moreover, the stability of the proposed method is investigated in terms of Riccati equation and Lyapunov method. Furthermore, to show the effectiveness of the proposed method it applied and simulated for a second order leader and one follower system with specific formation. Then, a five second order agents with leader in a circular formation avoiding simple and complex obstacles are also introduced with different scenarios. Finally, twenty agents with square formation with two obstacles are simulated and investigated.

Keywords

• Artificial potential function
• APF
• Formation control
• Multi-agent system
• MAS
• Obstacle avoidance