Formation control and obstacles avoidance for multi-agent systems based on position estimation

被引：0

作者：

Chen, Jing ^{[1
]}

Xia, Yuanqing ^{[1
]}

机构：

[1] Beijing Inst Technol, Sch Automat, Key Lab Intelligent Control & Decis Complex Syst, Beijing 100081, Peoples R China

来源：

2014 33RD CHINESE CONTROL CONFERENCE (CCC) | 2014年

关键词：

Formation control; Second-order system; Optimal control; Obstacle avoidance; CONSENSUS;

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：

Formation control from optimal control strategy is derived based on the position estimation for second-order molded agents using only the relative position. Under the proposed strategy, agents can realize the convergence to the desired formation configure if and only if the interaction graph for the agents has a spanning tree. Extra control input is added into the derived control strategy, with the help of detecting obstacles using the relative position and taking avoidance measures using the estimated position, it can also realize obstacle avoidance for agents between themselves.

引用

页码：1150 / 1155

页数：6

共 17 条

[1] Behavior-based formation control for multirobot teams [J].

Balch, T ;

Arkin, RC .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1998, 14 (06) :926-939

[2] A coordination architecture for spacecraft formation control [J].

Beard, RW ;

Lawton, J ;

Hadaegh, FY .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2001, 9 (06) :777-790

[3] Straight Line Path Following for Formations of Underactuated Marine Surface Vessels [J].

Borhaug, Even ;

Pavlov, Alexey ;

Panteley, Elena ;

Pettersen, Kristin Y. .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2011, 19 (03) :493-506

[4] Leader-follower formation control of underactuated autonomous underwater vehicles [J].

Cui, Rongxin ;

Ge, Shuzhi Sam ;

How, Bernard Voon Ee ;

Choo, Yoo Sang .

OCEAN ENGINEERING, 2010, 37 (17-18) :1491-1502

[5] Connectedness Preserving Distributed Swarm Aggregation for Multiple Kinematic Robots [J].

Dimarogonas, Dimos V. ;

Kyriakopoulos, Kostas J. .

IEEE TRANSACTIONS ON ROBOTICS, 2008, 24 (05) :1213-1223

[6] Control of mobile platforms using a virtual vehicle approach [J].

Egerstedt, M ;

Hu, X ;

Stotsky, A .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2001, 46 (11) :1777-1782

[7] ROBOT NAVIGATION FUNCTIONS ON MANIFOLDS WITH BOUNDARY [J].

KODITSCHEK, DE ;

RIMON, E .

ADVANCES IN APPLIED MATHEMATICS, 1990, 11 (04) :412-442

[8] Robust constrained model predictive control using linear matrix inequalities [J].

Kothare, MV ;

Balakrishnan, V ;

Morari, M .

AUTOMATICA, 1996, 32 (10) :1361-1379

[9] Synchronized multiple spacecraft rotations [J].

Lawton, JR ;

Beard, RW .

AUTOMATICA, 2002, 38 (08) :1359-1364

[10] Formation Control of Mobile Agents Based on Distributed Position Estimation [J].

Oh, Kwang-Kyo ;

Ahn, Hyo-Sung .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2013, 58 (03) :737-742

← 1 2 →