Distributed formation control for a multi-agent system with dynamic and static obstacle avoidances

doi:10.1088/1674-1056/23/7/070509

›› 2014, Vol. 23 ›› Issue (7): 70509-070509.doi: 10.1088/1674-1056/23/7/070509

Distributed formation control for a multi-agent system with dynamic and static obstacle avoidances

曹建福, 凌志浩, 袁宜峰, 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

收稿日期:2013-12-03 修回日期:2014-01-21 出版日期:2014-07-15 发布日期:2014-07-15
基金资助:
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).

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

Received:2013-12-03 Revised:2014-01-21 Online:2014-07-15 Published:2014-07-15
Contact: Ling Zhi-Hao E-mail:zhhling@ecust.edu.cn
About author:05.65.+b; 02.30.Yy; 07.05.Dz
Supported by:
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).

摘要/Abstract

摘要： 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.

关键词: multi-agent system, formation control, obstacle avoidance, consensus theory

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.

Key words: multi-agent system, formation control, obstacle avoidance, consensus theory

中图分类号: (Self-organized systems)

05.65.+b

02.30.Yy (Control theory) 07.05.Dz (Control systems)

曹建福, 凌志浩, 袁宜峰, 高冲. Distributed formation control for a multi-agent system with dynamic and static obstacle avoidances[J]. , 2014, 23(7): 70509-070509.

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[J]. Chin. Phys. B, 2014, 23(7): 70509-070509.

参考文献 17

[1]	Luo X L, Han N N and Guan X P 2010 Chin. Phys. B 19 100202
[2]	Tan F X, Guan X P and Liu D R 2008 Chin. Phys. B 17 3531
[3]	Hu J P and Yuan H W 2009 Chin. Phys. B 18 3777
[4]	Ma S M, Wang R C and Ye N 2013 Int. J. Sensor Networks 13 76
[5]	Arredondo T V, Freund W, Navarro G N and Castillo P 2013 Int. J. Adv. Robot. Syst. 10 1
[6]	Yan J, Guan X P and Luo X Y 2011 Chin. Phys. B 20 018901
[7]	Huang H, Yu C B and Wu Q H 2012 Int. J. Robust Nonlinear 23 765
[8]	Sadowska A, Van T, Huijberts H, Van N, Kostic D and Nijmeijer H 2011 Int. J. Control 84 1886
[9]	Ren W 2008 European Journal of Control 14 93
[10]	Li H, Lin P and Zhang C X 2008 Chin. Phys. B 17 4458
[11]	Zhang W G, Zeng D L and Guo Z K 2010 Chin. Phys. B 19 070518
[12]	Yang T, Jin Y H, Wang W and Shi Y J 2011 Chin. Phys. B 20 20511
[13]	Olfati-Saber R 2006 IEEE Trans. Autom. Control 51 401
[14]	Wang X H, Yadav V and Balakrishnan S N 2007 IEEE Trans. Control Syst. Technol. 15 672
[15]	Kuwata Y, Richards A, Schouwenaars T and How J P 2007 Control Syst. Technol. 15 627
[16]	Wang J N and Xin M 2010 Int. J. Control 83 2606
[17]	Ren W and Beard R 2010 Distributed Consensus in Multi-Vehicle Cooperative Control: Theory and Applications (New York: Springer) p. 79

Distributed formation control for a multi-agent system with dynamic and static obstacle avoidances

Distributed formation control for a multi-agent system with dynamic and static obstacle avoidances

PDF (PC)

赞

可视化

摘要/Abstract

引用本文

使用本文

参考文献 17

相关文章 15

Metrics

本文评价

推荐阅读 0

[1]	Ximing Wang(王希铭), Jinsheng Sun(孙金生), Zhitao Li(李志韬), and Zixing Wu(吴梓杏). Memory-augmented adaptive flocking control for multi-agent systems subject to uncertain external disturbances[J]. 中国物理B, 2022, 31(2): 20203-020203.
[2]	Zhi-Hai Wu(吴治海) and Lin-Bo Xie(谢林柏). Fault-tolerant finite-time dynamical consensus of double-integrator multi-agent systems with partial agents subject to synchronous self-sensing function failure[J]. 中国物理B, 2022, 31(12): 128902-128902.
[3]	Xiaodong Liu(柳晓东) and Lipo Mo(莫立坡). Consensus problems on networks with free protocol[J]. 中国物理B, 2021, 30(7): 70701-070701.
[4]	陈侠, 尹立远, 刘永泰, 刘皓. Hybrid-triggered consensus for multi-agent systems with time-delays, uncertain switching topologies, and stochastic cyber-attacks[J]. 中国物理B, 2019, 28(9): 90701-090701.
[5]	高海云, 胡爱花, 沈莞蔷, 江正仙. Group consensus of multi-agent systems subjected to cyber-attacks[J]. 中国物理B, 2019, 28(6): 60501-060501.
[6]	邱小芬, 张银星, 李科赞. Successive lag cluster consensus on multi-agent systems via delay-dependent impulsive control[J]. 中国物理B, 2019, 28(5): 50501-050501.
[7]	方木云, 周灿灿, 黄鑫, 李晓, 周建平. H_∞ couple-group consensus of stochastic multi-agent systems with fixed and Markovian switching communication topologies[J]. 中国物理B, 2019, 28(1): 10703-010703.
[8]	莫立坡, 郭少岩, 于永光. Mean-square composite-rotating consensus of second-order systems with communication noises[J]. 中国物理B, 2018, 27(7): 70504-070504.
[9]	吴梓杏, 孙金生, 王希铭. Distance-based formation tracking control of multi-agent systems with double-integrator dynamics[J]. 中国物理B, 2018, 27(6): 60202-060202.
[10]	王金环, 许玉玲, 张建, 杨德东. Time-varying formation for general linear multi-agent systems via distributed event-triggered control under switching topologies[J]. 中国物理B, 2018, 27(4): 40504-040504.
[11]	王国强, 罗贺, 胡笑旋. Generation of optimal persistent formations for heterogeneous multi-agent systems with a leader constraint[J]. 中国物理B, 2018, 27(2): 28901-028901.
[12]	Erfan Shahamatkhah,Mohammad Tabatabaei. Leader-following consensus of discrete-time fractional-order multi-agent systems[J]. 中国物理B, 2018, 27(1): 10701-010701.
[13]	张翔, 王金环, 杨德东, 徐勇. Tracking consensus for nonlinear heterogeneous multi-agent systems subject to unknown disturbances via sliding mode control[J]. 中国物理B, 2017, 26(7): 70501-070501.
[14]	陈亮名, 李传江, 孙延超, 马广富. Cooperative impulsive formation control for networked uncertain Euler-Lagrange systems with communication delays[J]. 中国物理B, 2017, 26(6): 68703-068703.
[15]	任红卫, 邓飞其. Stochastic bounded consensus of second-order multi-agent systems in noisy environment[J]. 中国物理B, 2017, 26(10): 100506-100506.