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...
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| Veröffentlicht in: | Applied Mechanics and Materials 2014-07, Vol.596 (Mechatronics and Industrial Informatics II), p.251-258 |
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| container_end_page | 258 |
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| container_issue | Mechatronics and Industrial Informatics II |
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| container_title | Applied Mechanics and Materials |
| container_volume | 596 |
| creator | Wang, Cun Song Yang, Bao Jian Yin, Lin Fei Peng, Chen Dai, Ji Yang |
| description | 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. |
| doi_str_mv | 10.4028/www.scientific.net/AMM.596.251 |
| format | Article |
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| ispartof | Applied Mechanics and Materials, 2014-07, Vol.596 (Mechatronics and Industrial Informatics II), p.251-258 |
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| source | Scientific.net Journals |
| subjects | Formations Mathematical models Multiagent systems Obstacle avoidance Obstacles Potential fields Three dimensional Three dimensional models |
| title | Research on Multi-Agent Formation’s Obstacle Avoidance Problem Based on Three-Dimensional Vectorial Artificial Potential Field Method |
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