带有领导者的多智能体避障队形控制  

Formation Control for Obstacle Avoidance of Multiple-Agent System with a Leader

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2期130-135,共6页Journal of Yantai University(Natural Science and Engineering Edition)

基　　金：烟台大学青年基金(SX11Z3)

摘　　要：研究了一类带有领导者的多智能体系统队形控制问题,在实现期望队形过程中同时考虑避撞和避障问题.改进了现有避撞与避障势函数的构造方法,并基于势函数的方法设计了控制策略,在控制策略的作用下,带有领导者的多智能体系统实现了期望的队形和避撞、避障控制目标.最后,通过仿真说明所提方法的有效性和可行性.A formation control algorithm, in which both obstacle and collision avoidance are considered, is pro-posed for a multi-agent system with a leader. Both collision and obstacle avoidance potential functions are im- proved. Based on the potential method, control strategy is designed. It can be guaranteed that the system asymptot-ically converges to the formation on the effection of the control strategy. As a result, both collision avoidance and obstacle avoidance are realized. Finally, simulation studies are provided to verify the feasibility and effectiveness of the proposed method.

关 键 词：避撞 避障 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]