Formation control and collision avoidance for a class of multi-agent systems |
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Authors: | Yutong Liu Hongjun Yu Peng Shi Cheng-Chew Lim |
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Institution: | 1. School of Electrical and Electronic Engineering, University of Adelaide, Adelaide, South Australia, 5005, Australia;2. College of Automation, Harbin Engineering University, Harbin 150001, China |
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Abstract: | In this paper, a control scheme is proposed for a group of elliptical agents to achieve a predefined formation. The agents are assumed to have the same dynamics, and communication among the agents are limited. The desired formation is realized based on the reference formation and the mapping decision. In the control design, searching algorithms for both cases of minimum distance and tangents are established for each agent and its neighbors. In order to avoid collision, an optimal path planning algorithm based on collision angles, and a self-center-based rotation algorithm are also proposed. Moreover, randomized method is used to provide the optimal mapping decision for the underlying system. Two examples and analyses are presented to demonstrate the effectiveness and potential of the new control scheme. |
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Keywords: | Corresponding author |
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