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Formation Control and Obstacle Avoidance for Multi-Agent Systems Based on Virtual Leader-Follower Strategy

Jing Yan (), Xinping Guan, Xiaoyuan Luo and Cailian Chen
Additional contact information
Jing Yan: Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, P. R. China
Xinping Guan: #x2020;Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, P. R. China
Xiaoyuan Luo: Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, P. R. China
Cailian Chen: #x2020;Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, P. R. China

International Journal of Information Technology & Decision Making (IJITDM), 2017, vol. 16, issue 03, 865-880

Abstract: This paper investigates the formation control and obstacle avoidance problem for multi-agent systems (MASs), which aims to coordinate the pursuer agents to capture a mobile target. The target appears at a location randomly and its movement obeys Reactive Rabbit Model. The pursuers and the mobile target can be modeled as a Pursuit-Evasion Game (PEG). During the movement, not all of the pursuer agents can obtain the real-time information of the target. Moreover, the obstacle avoidance makes the formation of pursuer agents a big challenge to encircle the mobile target. In order to tackle these two problems, the formation control and obstacle avoidance algorithm is presented in this paper based on a novel virtual leader-follower strategy and potential functions. The obstacle avoidance problem can then be solved by constructing a velocity potential. The numerical analysis and simulation demonstrate the effectiveness of the proposed algorithm.

Keywords: Multi-agent system; formation control; obstacle avoidance; virtual leader-follower (search for similar items in EconPapers)
Date: 2017
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DOI: 10.1142/S0219622014500151

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