Target tracking and obstacle avoidance for multi-agent systems

Authors:
Jing Yan;Xin-Ping Guan;Fu-Xiao Tan
Affiliations:
Institute of Electrical Engineering, Yanshan University, Qinhuangdao, PRC 066004;Institute of Electrical Engineering, Yanshan University, Qinhuangdao, PRC 066004 and School of Electronic and Electric Engineering, Shanghai Jiao Tong University, Shanghai, PRC 200240;School of Computer and Information, Fuyang Teachers College, Fuyang, PRC 236041
Venue:
International Journal of Automation and Computing
Year:
2010

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Abstract

This paper considers the problems of target tracking and obstacle avoidance for multi-agent systems. To solve the problem that multiple agents cannot effectively track the target while avoiding obstacle in dynamic environment, a novel control algorithm based on potential function and behavior rules is proposed. Meanwhile, the interactions among agents are also considered. According to the state whether an agent is within the area of its neighbors' influence, two kinds of potential functions are presented. Meanwhile, the distributed control input of each agent is determined by relative velocities as well as relative positions among agents, target and obstacle. The maximum linear speed of the agents is also discussed. Finally, simulation studies are given to demonstrate the performance of the proposed algorithm.