Multi-agent formation control based on artificial force with exponential form

Playing an important role in security patrol, invader hunting and space exploration, formation control is the typical problem of multi-agent cooperation control system. In order to solve the problem of fixed position assignment and long time to reach the target in traditional artificial force model, a formation control method is proposed based on artificial force with exponential form. Agents´ positions are assigned using the global objective function which considers the position, velocity and angular velocity and maneuver procedures are controlled by artificial force with exponential form. Meanwhile, in order to overcome the problem of local minima in obstacle circumstance, an obstacle avoidance model with tangential force is proposed which considers the target goal. Simulation results show, applying the control algorithm of artificial force model with exponential form the agent assigns position naturally and consumes short time to reach the target goal.