Nonlinear Optimization For Multi-Agent Motion Planning In A Multi-Obstacle Environment

被引：0
|
作者：
Ngo Quoc Huy Tran [1 ]
Prodan, Ionela [1 ]
Lefevre, Laurent [1 ]
机构：
[1] Univ Grenoble Alpes, INPG, LCIS, F-26000 Valence, France
来源：
2017 21ST INTERNATIONAL CONFERENCE ON SYSTEM THEORY, CONTROL AND COMPUTING (ICSTCC) | 2017年
关键词：
Multi-agent dynamical systems; collision avoidance; potential field constructions; control barrier function; BARRIER CERTIFICATES; SYSTEMS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This work presents a potential field-based control approach for multi-agent dynamical systems in a multi-obstacle environment. A strong focus is put on solving the collision avoidance (either with obstacles or other agents) problem, which is essential for any multi-agent control strategy. In here we discuss potential field constructions which are used for penalizing in the cost the collision avoidance conditions. Comparisons through simulations with mixed-integer formulations are provided. At the end, conclusions and possible extensions are presented.
引用
收藏
页码：488 / 493
页数：6
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