Abstract
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.
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Bojian, L., Jun, F., Yunxiao, Q., Aijun, L. (2023). Precise Formation Control for the Multi-agent Systems Based on Tilted Potential Field with Collision Avoidance. In: Yan, L., Duan, H., Deng, Y. (eds) Advances in Guidance, Navigation and Control. ICGNC 2022. Lecture Notes in Electrical Engineering, vol 845. Springer, Singapore. https://doi.org/10.1007/978-981-19-6613-2_10
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DOI: https://doi.org/10.1007/978-981-19-6613-2_10
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