Formation control of multi-agent system based on potential function in complex environment

Authors:
Li Wang;Zengqiang Chen;Zhongxin Liu
Affiliations:
Tianjin Key Laboratory of Intelligence Computing and Novel Software Technology, Tianjin University of Technology, Tianjin, 300191, China/ Department of Automation, Nankai University, Tianjin, 3000 ...;Department of Automation, Nankai University, Tianjin, 300071, China.;Department of Automation, Nankai University, Tianjin, 300071, China
Venue:
International Journal of Systems, Control and Communications
Year:
2009

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Abstract

Formation control of mobile multi-agent system is a question with practical significance in the complex dynamics system. In this paper, a multi-agent system moving in free-space and moving with obstacle avoidance is studied. Applying potential function, the multi-agent algorithms are proposed. The first algorithm is an algorithm for multi-agent system moving in free-space. Then we discuss flocking with Obstacle avoidance in multi-agent system, the second algorithm has obstacle avoidance capabilities. We present the control algorithm and make stability analysis. Finally, many computer simulations are used to show the validity of the results.