### Multi-agent Obstacle Avoidance Algorithm Improved by Collision Cone Detection

XU Yuanyun, HE Ming, LIU Jintao, ZHOU Bo, YANG Cheng

1. College of Command and Control Engineering, The Army Engineering University of PLA, Nanjing 210007, China
• Online:2020-09-15 Published:2020-09-10

### 碰撞锥检测改进的多智能体避障算法

1. 中国人民解放军陆军工程大学 指挥控制工程学院，南京 210007

Abstract:

Obstacle avoidance is one of the necessary conditions for multi-agents to adapt to complex environments and successfully complete tasks. In order to make multi-agents pass obstacles faster and achieve consensus, a multi-agent obstacle avoidance control algorithm is proposed. An obstacle avoidance coefficient is proposed, which is determined by the collision cone detection method based on angle comparison, and the obstacle avoidance of the agent is completed by the control input and the obstacle avoidance coefficient. It is proved that all the agents in the algorithm eventually avoid obstacles, avoid collisions and reach consensus. Through experimental simulation analysis and comparison, this method can make multi-agents pass obstacles more quickly.