Multi-Agent Cluster Systems Formation Control with Obstacle Avoidance

被引：0

作者：

Sun, Yi ^{[1
]}

Hu, Xiaoguang ^{[1
]}

Xiao, Jin ^{[1
]}

Zhang, Guofeng ^{[1
]}

Wang, Shaojie ^{[1
]}

Liu, Lei ^{[2
]}

机构：

[1] Beihang Univ, State Key Lab Virtual Real Technol & Syst, Beijing, Peoples R China

[2] Beijing Electro Mech Engn Inst, Beijing 100074, Peoples R China

来源：

PROCEEDINGS OF THE 15TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA 2020) | 2020年

基金：

中国国家自然科学基金;

关键词：

artificial potential field; formation control; obstacle avoidance; no central control; multi-agent systems;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

For formation control and obstacle avoidance of multi-agent cluster systems, this paper proposes a new formation control and obstacle avoidance algorithm based on artificial potential field method, the advantage of which is that it can enhance the robustness of multi-agent systems and make the overall performance as no central control. Formation control adopts the follower-leader method. Leaders are not artificially designated, but selected by autonomous decision-making of multi-agent systems. When the selected leader fails to continue to perform the task, the remaining followers can independently choose a new leader and form a new formation to continue the task according to the number of existing agents. Finally, the effectiveness of the proposed method is verified by a numerical simulation. The simulation results show that the algorithm proposed in this paper can perform no central formation control and obstacle avoidance for multi-agent systems.

引用

页码：1635 / 1640

页数：6

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