A Flocking Algorithm for Second-Order Multi-Agent Systems

摘要

An effective flocking algorithm for multi-agent systems is presented. A type potential function is introduced for avoiding agents' inner collisions, and makes them formulate an - lattice pattern. The potential function creates a virtual force is only effective when the distance between two agents is beyond a safe region. With the presented flocking algorithm, agents match the same speed, and keep a certain distance from each other. Simulation results verify the effectiveness of the proposed algorithm.