基于Leader-Follower的分队队形控制寻径算法研究

In the battlefield environment, the tactical unit formation is difficult to maintain when facing complex static or dynamic obstacles. For this problem, this paper proposed an improved formation control method based on Leader-Follower algorithm. In the Leader routing stage, by applying the two-stage path search method in the battlefield navigation mesh, this paper used the A * algorithm to find the path composed of the triangular channel and the available objects, and then used the improved Funnel algorithm to smooth the path under the constraints of the scale of unit. In the Follower following stage, this paper used morphing technique to produce smooth intermediate constraint formation sequences under complex barrier constraints and combine the proposed formation spring model to locally correct and control the speed of each follower. In order to solve the problem of collision avoidance in the face of dynamic obstacle, this paper used reciprocal velocity obstacle method, which joined the speed co-control, to avoid the formation failure in the collision avoidance process. Finally, this paper proved the effectiveness of the method by experiments.