Abstract
In this paper, we investigate that swarm multi-agent can trap multi-target and avoid obstacles simultaneously through cooperative control. First, the control method proposed in this paper allows the number of multi-agent to trap each target evenly, without all or more than half of the number of agents trap** one of the targets. Second, a uniform number of agents track the target based on information about the target and local interactions with other agents. Introducing a repulsive potential function between the agent and the target can enclose the target. In addition, the control method designed in this paper can trap the target faster. Finally, agents trap** the same target converge their velocity to achieve the capture of the target after forming an enclosing state. In achieving this process, agents can simultaneously avoid obstacles well. The simulation results show the feasibility.
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This research reported herein was supported by the NSFC of China under Grant No. 71571091 and 71771112.
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Li, C., Jiang, G., Yang, Y., Chen, X. (2023). Swarm Multi-agent Trap** Multi-target Control with Obstacle Avoidance. In: Tan, Y., Shi, Y., Luo, W. (eds) Advances in Swarm Intelligence. ICSI 2023. Lecture Notes in Computer Science, vol 13969. Springer, Cham. https://doi.org/10.1007/978-3-031-36625-3_5
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