Formation stabilization and tracking control of mobile agents using local potential functions

2006 ◽  
Author(s):  
K.D. Do
Keyword(s):  
Mobile Agents ◽  
Tracking Control ◽  
Potential Functions ◽  
Local Potential

Control of Multiple Mobile Agents Via Artificial Potential Functions and Random Motion

2007 ◽  
Author(s):  
Manish Kumar ◽  
Devendra P. Garg ◽  
Randy Zachery
Keyword(s):  
Potential Function ◽  
Mobile Agents ◽  
Formation Control ◽  
Cluster Formation ◽  
Limited Range ◽  
Random Motion ◽  
Potential Functions ◽  
Random Behavior ◽  
Artificial Potential Function ◽  
Multiple Mobile Agents

This paper investigates the effectiveness of designed random behavior in cooperative formation control of multiple mobile agents. A method based on artificial potential functions provides a framework for decentralized control of their formation. However, it implies heavy communication costs. The communication requirement can be replaced by onboard sensors. The onboard sensors have limited range and provide only local information, and may result in the formation of isolated clusters. This paper proposes to introduce a component representing random motion in the artificial potential function formulation of the formation control problem. The introduction of the random behavior component results in a better chance of global cluster formation. The paper uses an agent model that includes both position and orientation, and formulates the dynamic equations to incorporate that model in artificial potential function approach. The effectiveness of the proposed method is verified via extensive simulations performed on a group of mobile agents and leaders.

Tracking Control for Groups of Mobile Agents

2007 ◽  
Author(s):  
Hong Shi ◽  
Long Wang ◽  
Tianguang Chu ◽  
Minjie Xu
Keyword(s):  
Mobile Agents ◽  
Tracking Control

scholarly journals Formation Control of Mobile Robots

2006 ◽  
Vol 1 (3) ◽  
pp. 41 ◽  
Author(s):  
Dang Binh Nguyen ◽  
Khac Duc Do
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Potential Functions ◽  
Local Potential ◽  
Constructive Method ◽  
Nonholonomic Mobile Robots ◽  
Minimum Value

A constructive method is presented to design cooperative controllers that force a group of N mobile robots to achieve a particular formation in terms of shape and orientation while avoiding collisions between themselves. The control development is based on new local potential functions, which attain the minimum value when the desired formation is achieved, and are equal to infinity when a collision occurs. The proposed controller development is also extended to formation control of nonholonomic mobile robots.

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