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Formation and obstacle avoidance control for multiagent systems

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Abstract

This paper considers the problems of formation and obstacle avoidance for multiagent systems. The objective is to design a term of agents that can reach a desired formation while avoiding collision with obstacles. To reduce the amount of information interaction between agents and target, we adopt the leader-follower formation strategy. By using the receding horizon control (RHC), an optimal problem is formulated in terms of cost minimization under constraints. Information on obstacles is incorporated online as sensed in a limited sensing range. The communication requirements between agents are that the followers should obtain the previous optimal control trajectory of the leader to each update time. The stability is guaranteed by adding a terminal-state penalty to the cost function and a terminal-state region to optimal problem. Finally, simulation studies are provided to verify the effectiveness of the proposed approach.

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Authors and Affiliations

  1. Institute of Electrical Engineering, Yanshan University, Qinhuangdao Hebei, 066004, China

    Jing Yan, Xinping Guan & Xiaoyuan Luo

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

    Xinping Guan

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

    Fuxiao Tan

Authors
  1. Jing Yan
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  2. Xinping Guan
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  3. Xiaoyuan Luo
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  4. Fuxiao Tan
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Corresponding author

Correspondence to Jing Yan.

Additional information

This work was supported by the National Basic Research Program of China (973 Program) (No. 2010CB731800), the Key Program of National Natural Science Foundation of China (No. 60934003), the National Natural Science Foundation of China (No. 61074065, 60974018), the Key Project for Natural Science Research of Hebei Education Department (No. ZD200908), and Key Project for Shanghai Committee of Science and Technology (No. 08511501600).

Jing YAN received his B.E. degree in Automation from Henan University, China, in 2008. He is currently working toward the Ph.D. degree in Control Theory and Control Engineering at Yanshan University, China. His research interests include cooperative control of multiagent systems, and wireless networks.

XinPing GUAN received his M. S. degree in Applied Mathematics in 1991, and Ph.D. degree in Electrical Engineering in 1999, both from Harbin Institute of Technology, China. Since 1986, he has been at Yanshan University, China, where he is currently a professor of Control Theory and Control Engineering. In 2007, he also joined Shanghai Jiao Tong University, China. His research interests include robust congestion control in communication networks, cooperative control of multiagent systems, and networked control systems.

Xiaoyuan LUO received his Ph.D. degree from the Department of Electrical Engineering, Yanshan University, China, in 2005. He is currently an associate professor in Yanshan University. His research interests include multiagent systems, and networked control systems.

Fuxiao TAN received his Ph.D. degree in Control Theory and Control Engineering from Yanshan University, in 2009. He is currently an associate professor in Fuyang Teachers College, China. His research interests include cooperative control of multiagent systems, and networked control systems. Email

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Yan, J., Guan, X., Luo, X. et al. Formation and obstacle avoidance control for multiagent systems. J. Control Theory Appl. 9, 141–147 (2011). https://doi.org/10.1007/s11768-011-9174-7

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  • DOI: https://doi.org/10.1007/s11768-011-9174-7

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