Multi-agent formation control based on virtual forces

Formation control of the multi-agent system has drawn significant researches in last several decades. Concerning time consuming, local-minima trap and inflexibility of team formation, this paper presents a modified potential field control algorithm, transforming a team of agents into a predefined 2D-shape team. First we design a bounded-exponential artificial force of which time consumed could be adjusted. It then carries out a model of obstacle avoidance, comprising of vertical and tangential force with the consideration of target impacts, in order to avoid possible collision and local minima. The paper further explores the dynamic model controlling team contour to solve the inflexibility of team formation based on knowledge of cybernetics. Detailed simulation results demonstrate the validity of team formation model of the multi-agent system and further work is discussed in the conclusion.