First-Order Multi-agents Obstacle Avoidance Based on Leader-Followers
摘要
Based on the leader-following method to complete the consensus formation control, this paper has introduced the mainstream obstacle avoidance methods, and the obstacle avoidance methods suitable for multi-agent are rarely mentioned in the existing papers. It verifies whether the single-agent obstacle avoidance method can be applied to the multi-agent system, then gives the simulation results. It shows the effectiveness of the artificial potential field method and the dynamic window approach applied to multi-agent obstacle avoidance.