基于势函数的多智能体避撞队形控制  

Collision Avoidance for Formation Control of Multi-agent System Based on Potential Function

作　　者：姚立强[1] 宋艳荣[2] 张术东[2] 

机构地区：[1]烟台大学数学与信息科学学院,山东烟台264005 [2]海军航空工程学院系统科学与数学研究所,山东烟台264001

出　　处：《烟台大学学报（自然科学与工程版）》2014年第1期45-49,74,共6页Journal of Yantai University(Natural Science and Engineering Edition)

基　　金：烟台大学青年基金资助项目(SX11Z3)

摘　　要：研究了一类多智能体系统的队形控制问题,改进了现有避撞势函数的构造方法.基于势函数的方法设计了控制策略,在控制策略的作用下,多智能体系统实现了期望的队形,避免了碰撞的发生.最后,仿真表明所提方法的可行性和有效性.A formation control algorithm is proposed for a multi-agent system and the current collision potential function method is improved. Based on the potential function method, control strategy is designed. As a result, the system can be guaranteed to asymptotically converges to the formation, and collisions among the members in the for- mation can be avoided. Finally, simulation studies are provided to verify the feasibility and effectiveness of the pro- posed method.

关 键 词：避撞 多智能体 队形控制 势函数 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]