Title: Formation and obstacle avoidance for multi-agent networks
Abstract:The problems of formation and obstacle avoidance control for multi-agent networks were considered in this paper.The goal was to make the agents reach a desired formation while avoiding collision with ...The problems of formation and obstacle avoidance control for multi-agent networks were considered in this paper.The goal was to make the agents reach a desired formation while avoiding collision with obstacle.Proper potential function concerned with target,obstacle and structure of the formation,was chosen to design a novel distributed control algorithm.To solve the problem that agents could not effectively avoid the obstacle in dynamic environment,a new velocity potential was deduced,in which the agents could escape from a moving obstacle quickly.One advantage of the algorithm was that it was easy to implement,because control was based on general rules which determined behaviors of all agents.Simulations were provided to verify the effectiveness of the proposed approach.Read More
Publication Year: 2011
Publication Date: 2011-01-01
Language: en
Type: article
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