Flocking control for multi-agent systems with stream-based obstacle avoidance

被引：13

作者：

Wang, Qiang ^{[1
,2
]}

Chen, Jie ^{[1
,2
]}

Fang, Hao ^{[1
,2
]}

Ma, Qian ^{[3
]}

机构：

[1] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China

[2] Key Lab Complex Syst Intelligent Control & Decis, Beijing, Peoples R China

[3] Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Jiangsu, Peoples R China

来源：

TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL | 2014年 / 36卷 / 03期

关键词：

obstacle avoidance; stream function; connectivity maintenance; Flocking; CONNECTIVITY;

D O I：

10.1177/0142331213503864

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The problems of flocking with both connectivity maintenance and obstacle avoidance for the network of dynamic agents are addressed. In the case where the initial network is connected, a decentralized flocking control protocol is proposed to enable the group to asymptotically achieve the desired stable flocking motion using artificial potential functions combined with stream functions, which could not only maintain the network connectivity of the dynamic multi-agent systems for all time but also make all the agents avoid obstacles smoothly without trapping into local minima. Finally, nontrivial simulations and experiments are worked out to verify the effectiveness of the theoretical methods.

引用

页码：391 / 398

页数：8

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