Formation control of multi-agent system considering obstacle avoidance

Ryo Toyota, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper deals with distributed and cooperative control algorithm to make each agents to form a formation for a second-order system. However, when forming a formation with a multi-agent system, there is a possibility that the agents collide with each other or collide with obstacles other than the agent. Also, if the agents avoid other agents and obstacles, the distance between agents may be temporarily too far apart. In order to solve these problems, this paper proposes a control algorithm which consists of Leader-Follower structure, consensus algorithm and artificial force based on artificial potential field. For the control algorithm to make agents achieve formation in a decentralized cooperative way, we derive the condition concerning the control gain to ensure stability. In addition, by comparing the amount of energy, we design conditions that ensure collision avoidance between agents, collision avoidance with obstacles, and distance between agents, and also design potential functions that satisfy the conditions. The validity of the control algorithm proposed in this paper is verified by numerical simulations.

Original languageEnglish
Title of host publication2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages446-451
Number of pages6
Volume2017-November
ISBN (Electronic)9784907764579
DOIs
Publication statusPublished - 2017 Nov 10
Event56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 - Kanazawa, Japan
Duration: 2017 Sep 192017 Sep 22

Other

Other56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
CountryJapan
CityKanazawa
Period17/9/1917/9/22

Keywords

  • Consensus
  • Formation Control
  • Multi-agent System (MAS)
  • Obstacle Avoidance
  • Potential Field

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Optimization
  • Control and Systems Engineering
  • Instrumentation

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  • Cite this

    Toyota, R., & Namerikawa, T. (2017). Formation control of multi-agent system considering obstacle avoidance. In 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 (Vol. 2017-November, pp. 446-451). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/SICE.2017.8105616