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

页码：488 / 493

页数：6

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