Energy-aware Distributed Formation Control for Multiple Unmanned Vehicles

Abstract

Abstract Multi-agent system is an important branch of distributed artificial intelligence. As a new field of engineering control science, it has developed vigorously in recent years. From a practical point of view, most existing agents, such as unmanned vehicles and unmanned aerial vehicles, are powered by mobile power supply. Therefore, it is of practical significance to consider the battery state and explore how to improve the overall battery life when designing the multi-agent control strategy. In this paper, we first introduced a classical algorithm based on the consensus theory, and on this basis, the overtaking action in the formation is realized by changing the topology, so as to simulate the individuals (action individuals) who consume more energy in the formation; then we discussed how to improve the endurance of high-energy-consuming individuals in formation through average energy consumption in strategy design, and proposed an algorithm based on energy-aware. Finally, the MATLAB simulation results show that compared with the classical algorithm, the proposed algorithm can improve the endurance of formation.