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Chin. Phys. B, 2014, Vol. 23(7): 070509    DOI: 10.1088/1674-1056/23/7/070509
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Distributed formation control for a multi-agent system with dynamic and static obstacle avoidances

Cao Jian-Fu (曹建福), Ling Zhi-Hao (凌志浩), Yuan Yi-Feng (袁宜峰), Gao Chong (高冲)
Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education, East China University of Science and Technology, Shanghai 200237, China
Abstract  Formation control and obstacle avoidance for multi-agent systems have attracted more and more attention. In this paper, the problems of formation control and obstacle avoidance are investigated by means of a consensus algorithm. A novel distributed control model is proposed for the multi-agent system to form the anticipated formation as well as achieve obstacle avoidance. Based on the consensus algorithm, a distributed control function consisting of three terms (formation control term, velocity matching term, and obstacle avoidance term) is presented. By establishing a novel formation control matrix, a formation control term is constructed such that the agents can converge to consensus and reach the anticipated formation. A new obstacle avoidance function is developed by using the modified potential field approach to make sure that obstacle avoidance can be achieved whether the obstacle is in a dynamic state or a stationary state. A velocity matching term is also put forward to guarantee that the velocities of all agents converge to the same value. Furthermore, stability of the control model is proven. Simulation results are provided to demonstrate the effectiveness of the proposed control.
Keywords:  multi-agent system      formation control      obstacle avoidance      consensus theory  
Received:  03 December 2013      Revised:  21 January 2014      Accepted manuscript online: 
PACS:  05.65.+b (Self-organized systems)  
  02.30.Yy (Control theory)  
  07.05.Dz (Control systems)  
Fund: Project supported by the National High Technology Research and Development Program of China (Grant No. 2011AA040103) and the Research Foundation of Shanghai Institute of Technology, China (Grant No. B504).
Corresponding Authors:  Ling Zhi-Hao     E-mail:  zhhling@ecust.edu.cn
About author:  05.65.+b; 02.30.Yy; 07.05.Dz

Cite this article: 

Cao Jian-Fu (曹建福), Ling Zhi-Hao (凌志浩), Yuan Yi-Feng (袁宜峰), Gao Chong (高冲) Distributed formation control for a multi-agent system with dynamic and static obstacle avoidances 2014 Chin. Phys. B 23 070509

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