A Novel Method for Multiple Agent Formation Obstacle Avoidance Problem in the Complex Dynamic Environment

In order to solve the problem of multiple agent formation obstacle avoidance problem in the complex dynamic environment, the Ant Colony Rotational Vectorial Artificial Potential Field (ACRVAPF) method is proposed. Aiming to improve the global optimization ability of the agents, the obstacle avoidance result of the Ant Colony Optimization (ACO) is used for the pretreatment. The real-time ability is improved because of the vectorization of the Artificial Potential Field (APF) method, and the local minimum problem is solved because of the addition of rotational force. The feasibility and effectiveness of the proposed method is verified which the ACRVAPF method is better than the others.