Research on Multi-Agent Formation’s Obstacle Avoidance Problem Based on Three-Dimensional Vectorial Artificial Potential Field Method

In order to solve the obstacle avoidance problem when the Multi-Agent formation get through the area full of obstacles, improved the traditional Artificial Potential Field method, add the vectorial information to the agent’s model, presented the Three-Dimensional Vectorial Artificial Potential Field method (TDVAPF). Firstly, improved the model of agent, obstacle and target; then, improved the Multi-Agent formation motion model, the Multi-Agent formation’s structure is “pyramid” structure; Finally, improved the agent’s force, add the “rotational force” to the agent’s force, it makes agent avoid the “local trouble”. The numerical simulation verified the correctness and effectiveness of the TDVAPF method in Multi-Agent formation’s obstacle avoidance problem.