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Target tracking and obstacle avoidance for multi-agent systems

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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.

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Author information

Authors and Affiliations

  1. Institute of Electrical Engineering, Yanshan University, Qinhuangdao, 066004, PRC

    Jing Yan & Xin-Ping Guan

  2. School of Electronic and Electric Engineering, Shanghai Jiao Tong University, Shanghai, 200240, PRC

    Xin-Ping Guan

  3. School of Computer and Information, Fuyang Teachers College, Fuyang, 236041, PRC

    Fu-Xiao Tan

Authors
  1. Jing Yan
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  2. Xin-Ping Guan
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  3. Fu-Xiao Tan
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Corresponding author

Correspondence to Jing Yan.

Additional information

This work was supported by National Basic Research Program of China (973 Program) (No. 2010CB731800), Key Program of National Natural Science Foundation of China (No. 60934003), and Key Project for Natural Science Research of Hebei Education Department (No. ZD200908).

Jing Yan received the B. Eng. degree in automation from Henan University, PRC in 2008. He is currently a Ph.D. candidate in control theory and control engineering at Yanshan University, PRC.

His research interests include cooperative control of multi-agent systems and wireless networks.

Xin-Ping Guan received the M. Sc. degree in applied mathematics in 1991, and the Ph.D. degree in electrical engineering in 1999, both from Harbin Institute of Technology, PRC. Since 1986, he has been at Yanshan University, PRC, where he is currently a professor of control theory and control engineering. In 2007, he also joined Shanghai Jiao Tong University, PRC.

His research interests include robust congestion control in communication networks, cooperative control of multi-agent systems, and networked control systems.

Fu-Xiao Tan received the B.Eng. degree in automation from Hefei University of Technology, PRC in 1997, and the Ph.D. degree in control theory and control engineering from Yanshan University, PRC in 2009. He is currently an associate professor in Fuyang Teachers College, PRC.

His research interests include robust congestion control in communication networks, cooperative control of multi-agent systems, and networked control systems.

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Yan, J., Guan, XP. & Tan, FX. Target tracking and obstacle avoidance for multi-agent systems. Int. J. Autom. Comput. 7, 550–556 (2010). https://doi.org/10.1007/s11633-010-0539-z

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  • DOI: https://doi.org/10.1007/s11633-010-0539-z

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