Name
Title | ||
|---|---|---|
Formation Control And Obstacle Avoidance For Multi-Agent Systems Based On Virtual Leader-Follower Strategy |
Abstract | ||
|---|---|---|
This paper investigates the formation control and obstacle avoidance problem for multi-agent systems (MASs), which aims to coordinate the pursuer agents to capture a mobile target. The target appears at a location randomly and its movement obeys Reactive Rabbit Model. The pursuers and the mobile target can be modeled as a Pursuit-Evasion Game (PEG). During the movement, not all of the pursuer agents can obtain the real-time information of the target. Moreover, the obstacle avoidance makes the formation of pursuer agents a big challenge to encircle the mobile target. In order to tackle these two problems, the formation control and obstacle avoidance algorithm is presented in this paper based on a novel virtual leader-follower strategy and potential functions. The obstacle avoidance problem can then be solved by constructing a velocity potential. The numerical analysis and simulation demonstrate the effectiveness of the proposed algorithm. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1142/S0219622014500151 | INTERNATIONAL JOURNAL OF INFORMATION TECHNOLOGY & DECISION MAKING |
Keywords | Field | DocType |
Multi-agent system, formation control, obstacle avoidance, virtual leader-follower | Obstacle avoidance,Control theory,Pursuer,Multi-agent system,Virtual leader,Velocity potential,Mathematics | Journal |
Volume | Issue | ISSN |
16 | 3 | 0219-6220 |
Citations | PageRank | References |
1 | 0.36 | 24 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jing Yan | 1 | 151 | 20.02 |
| Xinping Guan | 2 | 2791 | 253.38 |
| Xiao-Yuan Luo | 3 | 271 | 33.54 |
| Cai-Lian Chen | 4 | 831 | 98.98 |