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A Multi‐Layered Potential Field Method for Multi‐Agent Navigation, Searching and Tracking
Author(s) -
Hackbarth Axel,
Hedrick Karl,
Kreuzer Edwin
Publication year - 2010
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201010297
Subject(s) - waypoint , potential field , computer science , field (mathematics) , action (physics) , tracking (education) , real time computing , multi agent system , simulation , aerospace engineering , engineering , artificial intelligence , physics , mathematics , pure mathematics , psychology , pedagogy , quantum mechanics , geophysics
Collaborating multi‐agent systems can handle complex tasks with several or changing mission objectives. We developed a potential field method that allows various information layers to influence the control over a group of vehicles. The gradient of the potential field is the driving force for local action, whereas the global waypoint is determined by the minimum of the agent's potential field. The driving force to the global waypoint is a virtual spring‐mass‐damper system that pulls the agent towards its waypoint, restricted by the local gradient of the agent's potential field. (© 2010 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)