空军工程大学学报2026，Vol.27Issue(2)：54-61,8.DOI:10.3969/j.issn.2097-1915.2026.02.007
基于高阶人工势场的多智能体低震荡避障蜂拥控制
A Method of Controlling Multi-Agent System Low-Oscillation Collision-Free Flocking Based on High-Order Artificial Potential Field
摘要
Abstract
Multi-agent system flocking control has been a research hot topic in recent years.In view of the prob-lems that there remain oscillation and slow initial response in second-order flocking control systems,this paper proposes a flocking control algorithm incorporated higher-order artificial potential fields by integrating the general properties of artificial potential fields required for multi-agent systems.Viewing the potential field gradient as the deviation of the agent's expected position,the control law is designed from the perspective of trajectory tracking.And,the Hessian matrix of the artificial potential field is introduced into the flocking control,and an energy-based Lyapunov function is designed to prove out the stability of the flocking control method and the obstacle avoidance during the operation of the multi-agent system separately.Thenumerical simulation results show that the proposed high-order potential field method achieves a significant increase in the response speed of multi-agent flocking con-trol,effectively suppressing the system oscillations.关键词
多智能体系统/轨迹跟踪/避障/蜂拥控制/人工势场Key words
multi-agent system/trajectory tracking/collision avoidance/flocking control/artificial potential field分类
航空航天引用本文复制引用
万路军,李强,肖博漪,田继伟,钟赟..基于高阶人工势场的多智能体低震荡避障蜂拥控制[J].空军工程大学学报,2026,27(2):54-61,8.基金项目
陕西省科协青年人才托举计划项目(20240105) （20240105）
陕西省自然科学基础研究计划青年项目(2023-JC-QN-0728) （2023-JC-QN-0728）
