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.
出处
《烟台大学学报（自然科学与工程版）》
CAS
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)
关键词
避撞
避障
多智能体
队形控制
势函数
collision avoidance
obstacle avoidance
multi-agent system
formation control
potential function
