Target tracking and obstacle avoidance for multi-agent networks with input constraints

被引：8

作者：

Yan J. ^{[1
]}

Guan X.-P. ^{[2
]}

Luo X.-Y. ^{[1
]}

Tan F.-X. ^{[3
]}

机构：

[1] Department of Electrical Engineering, Yanshan University

[2] School of Electronic and Electric Engineering, Shanghai Jiao Tong University

[3] School of Computer and Information, Fuyang Teachers College

来源：

International Journal of Automation and Computing | 2011年 / 8卷 / 1期

基金：

中国国家自然科学基金;

关键词：

multi-agent networks; obstacle avoidance; optimal control; potential function; Target tracking;

D O I：

10.1007/s11633-010-0553-1

中图分类号：

学科分类号：

摘要：

In this paper, the problems of target tracking and obstacle avoidance for multi-agent networks with input constraints are investigated. When there is a moving obstacle, the control objectives are to make the agents track a moving target and to avoid collisions among agents. First, without considering the input constraints, a novel distributed controller can be obtained based on the potential function. Second, at each sampling time, the control algorithm is optimized. Furthermore, to solve the problem that agents cannot effectively avoid the obstacles in dynamic environment where the obstacles are moving, a new velocity repulsive potential is designed. One advantage of the designed control algorithm is that each agent only requires local knowledge of its neighboring agents. Finally, simulation results are provided to verify the effectiveness of the proposed approach. © 2011 Institute of Automation, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg.

引用

页码：46 / 53

页数：7

共 14 条

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