中国物理B ›› 2014, Vol. 23 ›› Issue (2): 28901-028901.doi: 10.1088/1674-1056/23/2/028901

• INTERDISCIPLINARY PHYSICS AND RELATED AREAS OF SCIENCE AND TECHNOLOGY • 上一篇    下一篇

Generation of minimally persistent circle formation for a multi-agent system

罗小元a, 邵士凯a, 张玉燕a, 李绍宝b, 关新平a, 刘志新a   

  1. a School of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China;
    b Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong, China
  • 收稿日期:2013-01-13 修回日期:2013-07-10 出版日期:2013-12-12 发布日期:2013-12-12
  • 基金资助:
    Project supported by the National Basic Research Program of China (Grant No. 2010CB731800), the National Natural Science Foundation of China (Grant Nos. 60934003, 61074065, and 61375105), and the Natural Science Foundation of Hebei Province, China (Grant No. F2012203119).

Generation of minimally persistent circle formation for a multi-agent system

Luo Xiao-Yuan (罗小元)a, Shao Shi-Kai (邵士凯)a, Zhang Yu-Yan (张玉燕)a, Li Shao-Bao (李绍宝)b, Guan Xin-Ping (关新平)a, Liu Zhi-Xin (刘志新)a   

  1. a School of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China;
    b Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong, China
  • Received:2013-01-13 Revised:2013-07-10 Online:2013-12-12 Published:2013-12-12
  • Contact: Liu Zhi-Xin E-mail:lzxauto@ysu.edu.cn
  • About author:89.20.Ff; 87.85.St; 89.65.Ef; 02.30.Em
  • Supported by:
    Project supported by the National Basic Research Program of China (Grant No. 2010CB731800), the National Natural Science Foundation of China (Grant Nos. 60934003, 61074065, and 61375105), and the Natural Science Foundation of Hebei Province, China (Grant No. F2012203119).

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摘要： In this paper, two methods of generating minimally persistent circle formation are presented. The proposed methods adopt a leader-follower strategy and all followers are firstly motivated to move into the leader’s interaction range. Based on the information about relative angle and relative distance, two numbering schemes are proposed to generate minimally persistent circle formation. Distributed control laws are also designed to maintain the desired relative distance between agents. The distinctive features of the proposed methods are as follows. First, only 2n-3 unilateral communication links for n agents are needed during the circle formation process and thus the communication complexity can be reduced. In addition, the formation topology is kept fixed for the whole motion and achieves a self-stability property. Finally, each follower keeps a regualr interval with its neighbors and the formation converges to a uniform circle formation. Simulation results are also provided to demonstrate the effectiveness of the proposed methods.

关键词: multiagent system, formation control, minimally persistent graph, numbering strategy

Abstract: In this paper, two methods of generating minimally persistent circle formation are presented. The proposed methods adopt a leader-follower strategy and all followers are firstly motivated to move into the leader’s interaction range. Based on the information about relative angle and relative distance, two numbering schemes are proposed to generate minimally persistent circle formation. Distributed control laws are also designed to maintain the desired relative distance between agents. The distinctive features of the proposed methods are as follows. First, only 2n-3 unilateral communication links for n agents are needed during the circle formation process and thus the communication complexity can be reduced. In addition, the formation topology is kept fixed for the whole motion and achieves a self-stability property. Finally, each follower keeps a regualr interval with its neighbors and the formation converges to a uniform circle formation. Simulation results are also provided to demonstrate the effectiveness of the proposed methods.

Key words: multiagent system, formation control, minimally persistent graph, numbering strategy

中图分类号:  (Computer science and technology)

  • 89.20.Ff
87.85.St (Robotics) 89.65.Ef (Social organizations; anthropology ?) 02.30.Em (Potential theory)