An improved leader-follower formation control algorithm

In response to the problem that the leader's dominant role in the leader follower formation control algorithm can easily lead to the failure of formation system control, in this paper, the artificial potential field method is used to improve the virtual leader formation algorithm to solve the formation problem. The concept of virtual navigators is used for formation control, while the artificial potential field method is used for obstacle avoidance tasks. The combination of the two effectively solves the problem of traditional formation control being prone to failure. Through comparative simulation, it is found that under the use of the improved algorithm in this paper, the formation motion trajectory is more stable, and the time for the relative position error of formation members to stabilize is shortened by 15 seconds, indicating that the formation control under the algorithm in this paper is more stable and efficient.