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

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

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

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