Target tracking and obstacle avoidance for multi-agent systems

被引：22

作者：

Yan J. ^{[1
]}

Guan X.-P. ^{[1
,2
]}

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

机构：

[1] Institute 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 | 2010年 / 7卷 / 04期

基金：

中国国家自然科学基金;

关键词：

multi-agent systems; obstacle avoidance; potential function; Target tracking;

D O I：

10.1007/s11633-010-0539-z

中图分类号：

学科分类号：

摘要：

This paper considers the problems of target tracking and obstacle avoidance for multi-agent systems. To solve the problem that multiple agents cannot effectively track the target while avoiding obstacle in dynamic environment, a novel control algorithm based on potential function and behavior rules is proposed. Meanwhile, the interactions among agents are also considered. According to the state whether an agent is within the area of its neighbors' influence, two kinds of potential functions are presented. Meanwhile, the distributed control input of each agent is determined by relative velocities as well as relative positions among agents, target and obstacle. The maximum linear speed of the agents is also discussed. Finally, simulation studies are given to demonstrate the performance of the proposed algorithm. © 2010 Institute of Automation, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg.

引用

页码：550 / 556

页数：6

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