文献类型：期刊文献

中文题名：Distributed formation control for a multi-agent system with dynamic and static obstacle avoidances

英文题名：Distributed formation control for a multi-agent system with dynamic and static obstacle avoidances

作者：Cao Jian-Fu[1];Ling Zhi-Hao[1];Yuan Yi-Feng[1];Gao Chong[1]

机构：[1]E China Univ Sci & Technol, Key Lab Adv Control & Optimizat Chem Proc, Minist Educ, Shanghai 200237, Peoples R China

年份：2014

卷号：23

期号：7

中文期刊名：Chinese Physics B

外文期刊名：CHINESE PHYSICS B

收录：CSTPCD;;EI(收录号：20142817923621);Scopus;WOS:【SCI-EXPANDED(收录号:WOS:000338925300025)】；CSCD:【CSCD2013_2014】；

基金：Project supported by the National High Technology Research and Development Program of China (Grant No. 2011AA040103) and the Research Foundation of Shanghai Institute of Technology, China (Grant No. B504).

语种：英文

中文关键词：multi-agent system;formation control;obstacle avoidance;consensus theory

外文关键词：multi-agent system; formation control; obstacle avoidance; consensus theory

摘要：Formation control and obstacle avoidance for multi-agent systems have attracted more and more attention. In this paper, the problems of formation control and obstacle avoidance are investigated by means of a consensus algorithm. A novel distributed control model is proposed for the multi-agent system to form the anticipated formation as well as achieve obstacle avoidance. Based on the consensus algorithm, a distributed control function consisting of three terms （formation control term, velocity matching term, and obstacle avoidance term） is presented. By establishing a novel formation control matrix, a formation control term is constructed such that the agents can converge to consensus and reach the anticipated formation. A new obstacle avoidance function is developed by using the modified potential field approach to make sure that obstacle avoidance can be achieved whether the obstacle is in a dynamic state or a stationary state. A velocity matching term is also put forward to guarantee that the velocities of all agents converge to the same value. Furthermore, stability of the control model is proven. Simulation results are provided to demonstrate the effectiveness of the proposed control.
Formation control and obstacle avoidance for multi-agent systems have attracted more and more attention. In this paper, the problems of formation control and obstacle avoidance are investigated by means of a consensus algorithm. A novel distributed control model is proposed for the multi-agent system to form the anticipated formation as well as achieve obstacle avoidance. Based on the consensus algorithm, a distributed control function consisting of three terms (formation control term, velocity matching term, and obstacle avoidance term) is presented. By establishing a novel formation control matrix, a formation control term is constructed such that the agents can converge to consensus and reach the anticipated formation. A new obstacle avoidance function is developed by using the modified potential field approach to make sure that obstacle avoidance can be achieved whether the obstacle is in a dynamic state or a stationary state. A velocity matching term is also put forward to guarantee that the velocities of all agents converge to the same value. Furthermore, stability of the control model is proven. Simulation results are provided to demonstrate the effectiveness of the proposed control.