Time-varying Formation Tracking with Collision Avoidance for Multi-agent Systems

被引：12

作者：

Santiaguillo-Salinas, J. ^{[1
]}

Aranda-Bricaire, E. ^{[1
]}

机构：

[1] CINVESTAV, Mechatron Sect, Dept Elect Engn, Mexico City 07000, DF, Mexico

来源：

IFAC PAPERSONLINE | 2017年 / 50卷 / 01期

关键词：

Multi-agent systems; time-varying formation; collision avoidance; differential-drive mobile robots; repulsive vector fields;

D O I：

10.1016/j.ifacol.2017.08.051

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper studies the collision avoidance problem in the time-varying formation tracking control for multi-agent systems. The proposed control strategy is decentralized, since agents have no global knowledge of the goal to achieve, knowing only the position and velocity of some agents. This control strategy allows a set of mobile agents to track a predetermined trajectory while they achieve a time-varying formation. For the collision avoidance, we add a repulsive vector field of the unstable focus type to the time-varying formation tracking control law. A leader-followers scheme is employed, using formation graphs to represent interactions between agents. The results are presented for the front points of differential-drive mobile robots. The theoretical results are verified by numerical simulation. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：309 / 314

页数：6

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