| Summary: | In order to solve the problem of CGF formation avoiding obstacles, avoiding collisions and reach the target point in the simulated battlefield environment, combined with the behaviour-based method, the following algorithm will be improved to control the CGF formation. In this paper, the motion of CGF formation is decomposed into moving to target, maintaining formation, avoiding obstacles, restoring formation, reaching target, and a linear feedback mechanism based on the relative position of leader and follower is introduced to prevent the occurrence of the team. The tangent obstacle avoidance algorithm evades obstacles. The simulation experiment applies the upper-layer behavioural reasoning to guide the structure of the underlying physical model, and the SOAR agent makes the choice of the state of the environment and the behaviour, and the underlying physical model implements the behaviour. The results show that the strategy can keep the CGF formation in the desired formation, avoid internal collisions while avoiding obstacles, and quickly restore the formation after reaching obstacles, reach the target location and achieve good results.
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