首页|A Novel Multi-agent Formation Control Law With Collision Avoidance

A Novel Multi-agent Formation Control Law With Collision Avoidance

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In this paper a stable formation control law that simultaneously ensures collision avoidance has been proposed.It is assumed that the communication graph is undirected and connected.The proposed formation control law is a combination of the couseusus term and the collision avoidance term (CAT).The first order consensus term is derived for the proposed model,while ensuring the Lyapunov stability.The consensus term creates and maintains the desired formation shape,while the CAT avoids the collision.During the collision avoidance,the potential function based CAT makes the agents repel from each other.This unrestricted repelling magnitude cannot ensure the graph connectivity at the time of collision avoidance.Hence we have proposed a formation control law,which ensures this connectivity even during the collision avoidance.This is achieved by the proposed novel adaptive potential function.The potential function adapts itself,with the online tuning of the critical variable associated with it.The tuning has been done based on the lower bound of the critical variable,which is derived from the proposed connectivity property.The efficacy of the proposed scheme has been validated using simulations done based on formations of six and thirty-two agents respectively.

Consensuscollision avoidanceformation controlgraph theorystability

Arindam Mondal、Laxmidhar Behera、Soumya Ranjan Sahoo、Anupam Shukla

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Department of Electrical Engineering, Indian Institute of Technology, Kanpur 208016, India

ABV-Indian Institute of Information Technology & Management, Gwalior 474015, India

This work was supported and funded by the CC&BT Division of the Department of Electronics & Information Technology,Govt.of India

23011/22/2013-R&DIN CC&BT

2017

10.1109/JAS.2017.7510565

自动化学报(英文版)
中国自动化学会,中国科学院自动化研究所,中国科技出版传媒股份有限公司

自动化学报(英文版)

CSCDEI
ISSN：2329-9266
年,卷(期)：2017.4(3)
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