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
相关论文
共 50 条
[41]   Research on obstacle avoidance of multi-AUV cluster formation based on virtual structure and artificial potential field method [J].
Ding, Wenjun ;
Zhang, Lei ;
Zhang, Guozong ;
Wang, Chiyu ;
Chai, Yajun ;
Yang, Tihao ;
Mao, Zhaoyong .
COMPUTERS & ELECTRICAL ENGINEERING, 2024, 117
[42]   Automatic collision avoidance algorithm based on route-plan-guided artificial potential field method [J].
Zhu, Zhongxian ;
Yin, Yong ;
Lyu, Hongguang .
OCEAN ENGINEERING, 2023, 271
[43]   2D obstacle avoidance method for snake robot based on modified artificial potential field [J].
Li, Dongfang ;
Zhou, Zhihao ;
Deng, Hongbin ;
Wang, Chao ;
Li, Kewei ;
Wang, Chaozheng ;
Teng, Peng .
PROCEEDINGS OF 2017 IEEE INTERNATIONAL CONFERENCE ON UNMANNED SYSTEMS (ICUS), 2017, :358-363
[44]   An Obstacle Avoidance Method of Soccer Robot Based on Evolutionary Artificial Potential Field [J].
Zhang, Qiushi ;
Chen, Dandan ;
Chen, Ting .
2012 INTERNATIONAL CONFERENCE ON FUTURE ENERGY, ENVIRONMENT, AND MATERIALS, PT C, 2012, 16 :1792-1798
[45]   Obstacle avoidance method of mobile robot based on obstacle cost potential field [J].
Chi S. ;
Xie Y. ;
Chen X. ;
Peng F. .
Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics, 2022, 48 (11) :2289-2303
[46]   Decentralized Multi-Subgroup Formation Control With Connectivity Preservation and Collision Avoidance [J].
Choi, Joonwon ;
Song, Yeongho ;
Lim, Seunghan ;
Kwon, Cheolhyeon ;
Oh, Hyondong .
IEEE ACCESS, 2020, 8 :71525-71534
[47]   Research on multi-vehicle formation control based on improved artificial potential field method [J].
Zhang, Hao ;
Wei, Chao ;
He, Yuanhao .
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING, 2024,
[48]   A proposed Formation Control Algorithm for Robot Swarm based on Adaptive Fuzzy Potential Field Method [J].
Elkilany, Basma Gh ;
Ali, A. A. ;
Fathelbab, Ahmed M. R. ;
Ishii, Hiroyuki .
IECON 2018 - 44TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2018, :2189-2194
[49]   A fast formation obstacle avoidance algorithm for clustered UAVs based on artificial potential field [J].
Liu, Yunping ;
Chen, Cheng ;
Wang, Yan ;
Zhang, Tingting ;
Gong, Yiguang .
AEROSPACE SCIENCE AND TECHNOLOGY, 2024, 147
[50]   A Formation Control and Obstacle Avoidance Method for Multiple Unmanned Surface Vehicles [J].
Liu, Guanqun ;
Wen, Naifeng ;
Long, Feifei ;
Zhang, Rubo .
JOURNAL OF MARINE SCIENCE AND ENGINEERING, 2023, 11 (12)
12345