Formation control of multi-agent system considering obstacle avoidance

Ryo Toyota, Toru Namerikawa

研究成果: Conference contribution

11 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ446-451
ページ数6
ISBN(電子版)9784907764579
DOI
出版ステータスPublished - 2017 11 10
イベント56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 - Kanazawa, Japan
継続期間: 2017 9 192017 9 22

出版物シリーズ

名前2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
2017-November

Other

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

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • 制御と最適化
  • 制御およびシステム工学
  • 器械工学

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