Decentralized formation control and obstacles avoidance based on potential field method

被引：0
作者：
Wang, Jia [1 ]
Wu, Xiao-Bei [1 ]
Xu, Zhi-Liang [1 ]
机构：
[1] Nanjing Univ Sci & Technol, Dept Automat, Nanjing 210094, Peoples R China
来源：
PROCEEDINGS OF 2006 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-7 | 2006年
关键词：
formation control; obstacle avoidance; artificial potential field;
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：
A new decentralized formation control based on electric field artificial potential is proposed in two dimensions. Making reference to the potential in electric field, the control of agent derived from a weighting of the relative importance of different artificial potential while formation keeping, obstacles avoidance and collision free. The research is based on the model of double integral equation. A strategy of the decentralized formation control based on the artificial potential is given and the proof of stability of this new formation control is presented. The simulation results show that agents can avoid the different shape obstacles effectively.
引用
收藏
页码：803 / +
页数：2
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