用局部交互与人工势场实现多智能体编队，兼顾通信效率与避障。
Formation Control of Multi-agent System with Local Interaction and Artificial Potential Field
- 基于局部邻居交互获取领导节点状态，降低通信开销。
- 引入应激机制的势场法，解决传统方法陷入局部极小问题。
- 仿真验证三角、方形、六边形编队均有效，适合分布式系统应用。
本文提出一种新型局部交互控制方法（LICM），用于实现多智能体系统（MAS）的编队控制。通过融合信息一致性与领导者-跟随者结构，构建局部交互领导者-跟随者（LILF）框架，使各智能体通过与邻居交互获取领导节点状态，从而降低系统通信开销并减少对单一节点拓扑的依赖。此外，引入人工势场（APF）方法实现障碍物避让及智能体间碰撞避免。受动物应激反应启发，提出应激响应机制-人工势场（SRM-APF），在传统APF陷入局部极小值时被触发，提升路径规划鲁棒性。最终，针对三角形、正方形和六边形三种编队形态的仿真实验验证了该方法的有效性。
原文摘要 · Abstract (English)
A novel local interaction control method (LICM) is proposed in this paper to realize the formation control of multi-agent system (MAS). A local interaction leader follower (LILF) structure is provided by coupling the advantages of information consensus and leader follower frame, the agents can obtain the state information of the leader by interacting with their neighbours, which will reduce the communication overhead of the system and the dependence on a single node of the topology. In addition, the artificial potential field (APF) method is introduced to achieve obstacle avoidance and collision avoidance between agents. Inspired by the stress response of animals, a stress response mechanism-artificial potential field (SRM-APF) is proposed, which will be triggered when the local minimum problem of APF occurs. Ultimately, the simulation experiments of three formation shapes, including triangular formation, square formation and hexagonal formation, validate the effectiveness of the proposed method.
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