TY - GEN
T1 - Precise Formation Control for the Multi-agent Systems Based on Tilted Potential Field with Collision Avoidance
AU - Bojian, Liu
AU - Jun, Fang
AU - Yunxiao, Qian
AU - Aijun, Li
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2023
Y1 - 2023
N2 - This paper devotes to addressing the issue of precise formation control with local collision avoidance based on the artificial potential fields. Firstly, an improved artificial potential field, named tilted potential field, is designed in this paper, which has a minimum and a saddle that help to form the formation. Then, based on the tilted potential field, a precise formation control law for the multi-agent systems is designed to make them form the desired formation in most situations and avoid collisions between communicating agents without using the minimum rigid graph. Besides, this paper gives the complete stability analysis and corresponding stability conditions of the control law based on the Lyapunov function. Finally, in order to better illustrate the advantages and disadvantages of the proposed controller, the numerical simulations under some special conditions are carried out and the results are analyzed carefully.
AB - This paper devotes to addressing the issue of precise formation control with local collision avoidance based on the artificial potential fields. Firstly, an improved artificial potential field, named tilted potential field, is designed in this paper, which has a minimum and a saddle that help to form the formation. Then, based on the tilted potential field, a precise formation control law for the multi-agent systems is designed to make them form the desired formation in most situations and avoid collisions between communicating agents without using the minimum rigid graph. Besides, this paper gives the complete stability analysis and corresponding stability conditions of the control law based on the Lyapunov function. Finally, in order to better illustrate the advantages and disadvantages of the proposed controller, the numerical simulations under some special conditions are carried out and the results are analyzed carefully.
KW - Artificial potential
KW - Collision avoidance
KW - Formation control
KW - Gradient descent
UR - http://www.scopus.com/inward/record.url?scp=85151122696&partnerID=8YFLogxK
U2 - 10.1007/978-981-19-6613-2_10
DO - 10.1007/978-981-19-6613-2_10
M3 - 会议稿件
AN - SCOPUS:85151122696
SN - 9789811966125
T3 - Lecture Notes in Electrical Engineering
SP - 84
EP - 93
BT - Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control
A2 - Yan, Liang
A2 - Duan, Haibin
A2 - Deng, Yimin
A2 - Yan, Liang
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Guidance, Navigation and Control, ICGNC 2022
Y2 - 5 August 2022 through 7 August 2022
ER -