Fuzzy Formation Control and Collision Avoidance for Multiagent Systems

Yeong-Hwa Chang, Chun-Lin Chen, Wei-Shou Chan, Hung-Wei Lin and Chia-Wen Chang

Mathematical Problems in Engineering, 2013, vol. 2013, 1-18

Abstract:

This paper aims to investigate the formation control of leader-follower multiagent systems, where the problem of collision avoidance is considered. Based on the graph-theoretic concepts and locally distributed information, a neural fuzzy formation controller is designed with the capability of online learning. The learning rules of controller parameters can be derived from the gradient descent method. To avoid collisions between neighboring agents, a fuzzy separation controller is proposed such that the local minimum problem can be solved. In order to highlight the advantages of this fuzzy logic based collision-free formation control, both of the static and dynamic leaders are discussed for performance comparisons. Simulation results indicate that the proposed fuzzy formation and separation control can provide better formation responses compared to conventional consensus formation and potential-based collision-avoidance algorithms.

Date: 2013
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2013/908180.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2013/908180.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:908180

DOI: 10.1155/2013/908180

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().