The influence of intra-group differences on the flocking and obstacle avoidance movement of multiagent systems

In multiagent systems, it can be hard to design individual models due to financial constraints and design challenges. Given this, most studies use the same models for each individual and fail to take into account intra-group differences. In this paper, the effects of differences within a group on flocking and obstacle avoidance movements are studied. Individual differences, group differences, and mutants are the most significant intra-group differences. The differences lie mostly in perceptual radius, inter-individual forces, and the ability to avoid obstacles and pursue goals. We designed a smooth and bounded hybrid potential function with indefinite parameters. This function satisfies the consistency control requirements of the three previously mentioned systems. It is also applicable to ordinary cluster systems without individual differences. As a result of the action of this function, the system has the advantages of rapid swarming and constant system connectivity during motion. Through theoretical analysis and computer simulation, we confirm the effectiveness of our theoretical class framework designed for a multi-agent system with internal differences.