Collision-free formation control for multi-agent systems with dynamic mapping

Abstract

In this paper, a formation control strategy is proposed for multiple elliptical agents. The multiple elliptical agents can form a predefined formation in any 2D space. The controller is based on the neighborhood of each agent and the optimal mapping decision for the whole group. The collision-free algorithm is built based on direction and distance of avoidance group of each agent. A novel adaptive random mapping algorithm is established to obtain the optimal mapping to enhance the effectiveness. Simulation results are given to illustrate the performance of the formation control strategy.