scholarly journals H∞Formation Control and Obstacle Avoidance for Hybrid Multi-Agent Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-11 ◽  
Author(s):  
Dong Xue ◽  
Jing Yao ◽  
Jun Wang
Keyword(s):  
Obstacle Avoidance ◽  
Formation Control ◽  
Multiagent System ◽  
Newtonian Potential ◽  
Planning Problem ◽  
Multi Agent Systems ◽  
Attenuation Level ◽  
Negative Effect ◽  
Multi Agent ◽  
Formation Keeping

A new concept ofH∞formation is proposed to handle a group of agents navigating in a free and an obstacle-laden environment while maintaining a desired formation and changing formations when required. With respect to the requirements of changing formation subject to internal or external events, a hybrid multiagent system (HMAS) is formulated in this paper. Based on the fact that obstacles impose the negative effect on the formation of HMAS, theH∞formation is introduced to reflect the above disturbed situation and quantify the attenuation level of obstacle avoidance via theH∞-norm of formation stability. An improved Newtonian potential function and a set of repulsive functions are employed to guarantee the HMAS formation-keeping and collision-avoiding from obstacles in a path planning problem, respectively. Simulation results in this paper show that the proposed formation algorithms can effectively allow the multiagent system to avoid penetration into obstacles while accomplishing prespecified global objective successfully.

Formation Control and Obstacle Avoidance for Multi-Agent Systems Based on Virtual Leader-Follower Strategy

2017 ◽  
Vol 16 (03) ◽  
pp. 865-880 ◽  
Author(s):  
Jing Yan ◽  
Xinping Guan ◽  
Xiaoyuan Luo ◽  
Cailian Chen
Keyword(s):  
Obstacle Avoidance ◽  
Formation Control ◽  
Rabbit Model ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Evasion Game ◽  
Multi Agent ◽  
Mobile Target ◽  
Virtual Leader ◽  
Avoidance Problem

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.

scholarly journals Optimized formation control of multi-agent system using PSO algorithm

2020 ◽  
Vol 20 (3) ◽  
pp. 1591
Author(s):  
Ahmed Mudheher Hasan ◽  
Safanah Mudheher Raafat
Keyword(s):  
Formation Control ◽  
Pso Algorithm ◽  
Network Control ◽  
Consensus Algorithm ◽  
Geometrical Shape ◽  
Multi Agent Systems ◽  
Mobile Vehicle ◽  
Aerial Vehicle ◽  
Multi Agent ◽  
Formation Keeping

<p>Formation Control (FC) is an important application for Multi-agent Systems (MASs) in coordinated control and especially for Unmanned Aerial Vehicle (UAV) which are widely used nowadays in military and civil sections. FC is mostly applied in conjunction with consensus algorithm. In this paper, a framework for an implementation of consensus FC that involves the decentralized type of network control is considered in order to achieve formation keeping, where the control of each vehicle is calculated dependent upon locally existed facts. The dynamic behavior of each vehicle agent is governed by its second-order dynamic model, and the networked mobile vehicle system is modeled by a directed graph. Then, Particle Swarm Optimization (PSO) is implemented for speeding up the convergence to the desired geometrical shape. Acceleration of the network while approaching the coveted shape is achieved and omissions of undesired swing that transpires through the acceleration is examined. The merits and effectiveness of the applied approach are demonstrated using two different examples.</p>

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