Formation Control Numerical Simulations of Geometric Patterns for Unmanned Autonomous Vehicles with Swarm Dynamical Methodologies

摘要

Formation of geometric shapes with autonomous unmanned mobile agents (which could be ground, undersea, aerial vehicles namely UAV/robots, mobile sensors etc.) is a particular type of the coordination problem. Meanwhile, this is due to broad range of application of multi-agent systems in a lot of project fields in recent years, the coordinated task of multi-agent is currently an important and challenging field of research. By use of the swarm dynamical model, based on artificial potential field (APF) function and Newton-Raphson iteration method, we analyze the special form of swarm aggregation routes of a particular predefined geometrical configuration that is defined by a set of desired inter-agent distance values in this paper. We also perform numerical simulations to examine the performance of the method, the results further indicated that the individual members living in group during the course of coordinative motion can realize the local collision-free the stabilization of particular predefined geometrical configuration formations.