| 带有领导者的多智能体避障队形控制 |
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| 引用本文： | 姚立强,宋艳荣,张术东.带有领导者的多智能体避障队形控制[J].烟台大学学报(自然科学与工程版),2014(2):130-135. |
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| 作者姓名： | 姚立强 宋艳荣 张术东 |
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| 作者单位： | [1]烟台大学数学与信息科学学院,山东烟台264005 [2]海军航空工程学院系统科学与数学研究所,山东烟台264001 |
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| 基金项目： | 烟台大学青年基金（SX11Z3）. |
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| 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.
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| 关 键 词： | 避撞 避障 多智能体 队形控制 势函数 |
Formation Control for Obstacle Avoidance of Multiple-Agent System with a Leader |
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| YAO Li-qiang,SONG Yan-rong,ZHANG Shu-dong.Formation Control for Obstacle Avoidance of Multiple-Agent System with a Leader[J].Journal of Yantai University(Natural Science and Engineering edirion),2014(2):130-135. |
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| Authors: | YAO Li-qiang SONG Yan-rong ZHANG Shu-dong |
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| Affiliation: | 1. School of Mathematics and Information Science, Yantai University, Yantai 264005, China; 2. Systems Science and Mathematics Institute, Naval Aeronautical and Astronautical University, Yantai 264001, China) |
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| Abstract: | 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. |
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| Keywords: | collision avoidance obstacle avoidance multi-agent system formation control potential function |
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