Consensus of Multi-agent Systems with Double-Integrator Dynamics in the Presence of Moving Obstacles

被引：0
作者：
Mehdipour, N. [1 ]
Abdollahi, F. [1 ,2 ]
Mirzaei, M. [1 ]
机构：
[1] Amirkabir Univ Technol, Dept Elect Engn, Ctr Excellence Control & Robot, Tehran 15914, Iran
[2] Concordia Univ, Dept Elect & Comp Engn, Montreal, PQ H3G 1M8, Canada
来源：
2015 IEEE CONFERENCE ON CONTROL AND APPLICATIONS (CCA 2015) | 2015年
关键词：
D O I：
暂无
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 paper presents a decentralized consensus control scheme for a group of agents in the presence of moving obstacles. A new control approach is proposed for pop-up dynamic obstacle avoidance for mobile robots while achieving consensus. The algorithm employs formation control to keep a pre-defined distance between agent and obstacle. Using Lyapunov stability analysis, asymptotic convergence of agents is proved outside the obstacle detection region and obstacle avoidance controller guarantees the whole system to be stable inside the obstacle detection region. The efficiency of the proposed control algorithm is verified by simulation results.
引用
收藏
页码：1817 / 1822
页数：6
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