Smooth collision avoidance for the formation control of first order multi-agent systems

被引：6

作者：

Gonzalez-Sierra, Jaime ^{[1
]}

Hernandez-Martinez, E. G. ^{[2
]}

Ramirez-Neria, Mario ^{[2
]}

Fernandez-Anaya, Guillermo ^{[3
]}

机构：

[1] Inst Politecn Nacl, Unidad Profes Interdisciplinaria Ingn Campus Hidal, Carretera Pachuca Actopan Kilometro 1 500,Dist Edu, San Agustin Tlaxiaca 42162, Hidalgo, Mexico

[2] Univ Iberoamer Ciudad de Mexico, Inst Invest Aplicada & Tecnol, Prolongac Paseo de la Reforma 880, Mexico City 01220, Mexico

[3] Univ Iberoamer Ciudad de Mexico, Dept Fis & Matemat, Prolongac de la Paseo Reforma 880, Mexico City 01220, Mexico

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2023年 / 165卷

关键词：

Collision avoidance; First-order agents; Multi-agent system; Observer; Formation control; DISTURBANCE REJECTION CONTROL; UNMANNED AERIAL VEHICLES; WHEELED MOBILE ROBOTS; FORMATION TRACKING; NAVIGATION;

D O I：

10.1016/j.robot.2023.104433

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This work addresses collision avoidance in the formation control of a group of mobile robots with first-order dynamics perturbed by lateral and longitudinal slipping parameters. A Generalized Proportional-Integral Observer (GPIO) is designed to estimate these perturbations. Then, an Active Disturbance Rejection Control (ADRC) is proposed to solve the well-known formation control avoiding collisions among the agents. The control strategy only depends on the agents' position measurements. On the other hand, Continuous Repulsive Vector Fields (C-RVFs) are developed to avoid collisions among the agents. For this purpose, a parameter depending on the inter-robot distance is developed to scale the RVFs properly. By proposing C-RVFs, the chattering is eliminated when using Discontinuous RVFs (D-RVFs). Numerical simulations and real-time experiments illustrate the agents' performance when they are at risk of collision. (c) 2023 Elsevier B.V. All rights reserved.

引用

页数：11

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