Multi-agent system formation integrating virtual leaders into artificial potentials

To solve the problems of collision between neighboring agents, a formation control algorithm is presented for multi-agent systems integrating virtual leaders into artificial potentials to keep and adjust formation. Firstly, the interaction forces and expectation distances between neighboring agents are determined by artificial potentials. Then, the formation and the motion direction of the group are controlled in the artificial potentials proposed by means of the amount and distribution locations of virtual leaders. Finally, the approach provides a construction for a Lyapunov function to prove stability of the formation systems using the system kinetic energy and the artificial potential energy. Simulation results show that the controller is effective and can keep or change formation configuration rapidly, stably and exactly with no collision.