A Multi-agent Formation Control Algorithm in Interference Environment

Under the condition of satisfying certain communication topology, a multi-agent formation control algorithm based on the speed and direction of single-agent is proposed. For the situation that multi-agent communication system is vulnerable to external interference. Firstly, an agent guidance law is designed so that the speed direction of the robot can gradually converge to the desired direction during the motion. Secondly, in the last stage of motion, the agent realizes the cooperative control through the effective communication, so that the multi-agent can reach the target point at the same time with meeting the speed and direction constraints. The simulation results verify the effectiveness of the proposed algorithm.