Thermal Motion Equivalent Method with Nonlinear Interaction of Agents

A thermal motion equivalent method based on the potential field method in past works is presented. The presented method provides a solution to one of the actual problems of group control - prevention of collisions of agents and obstacles by mutual repulsion. Another relevant problem is the formation of geometric structures by agents, one of the solutions to which is the introduction of a nonlinear interaction function. The paper is devoted to the search for coefficients of the exponential interaction function of agents depending on the agent’s speed while preserving the stability of the swarm system. The paper presents the results of numerical modeling showing the correctness of the methodology for choosing the coefficients of the exponential interaction function.