Formation control of mobile agents using local potential functions

2006 ◽  
Author(s):  
K.D. Do
Keyword(s):  
Mobile Agents ◽  
Formation 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.

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.

The Null Space Based Cooperative Formation Control for UAVs Swarm

2013 ◽  
Vol 341-342 ◽  
pp. 824-829
Author(s):  
Shi You Dong ◽  
Xiao Ping Zhu ◽  
Guo Qing Long
Keyword(s):  
Control Strategy ◽  
Formation Control ◽  
Local Minimum ◽  
Null Space ◽  
Potential Functions ◽  
Good Effect ◽  
Artificial Potential Field ◽  
Minimum Problem ◽  
Control Approach ◽  
Local Minimum Problem

In this paper, the formation problem of UAVs swarm is studied based on a combination of the potential functions. On the basis of mathematical models of the traditional artificial potential field,a new formation potential function is proposed. The potential functions is merged using null space control strategy which is capable of dealing with conflicts among elementary potential functions and avoid local minimum problem. The results achieved by computer simulations suggest that the control approach can produces good effect.

Rigid Formation Control of Nonholonomic Multi-Agents

2007 ◽  
Author(s):  
D. H. A. Maithripala ◽  
Sangbum Woo ◽  
S. Jayasuriya
Keyword(s):  
Lower Bound ◽  
Control Problem ◽  
Mobile Agents ◽  
Formation Control ◽  
Sufficient Conditions ◽  
Explicit Consideration ◽  
Simulation Results ◽  
Multi Agents

In this paper we address the formation control problem of maintaining rigid formation for a group of nonholonomic mobile agents. Explicit consideration of actuator limits at a higher level of control in designing formation trajectories that can theoretically result in zero formation error is the main contribution we make. In particular we consider a positive lower bound on the agent speed, to account for stall speeds of fixed winged UAVs. We provide sufficient conditions on the controls that would ensure feasible formation trajectories. The approach we propose is supported with preliminary simulation results.

Limit-Cycle-Based Design of Formation Control for Mobile Agents

2020 ◽  
Vol 65 (8) ◽  
pp. 3530-3543 ◽  
Author(s):  
Chen Wang ◽  
Weiguo Xia ◽  
Guangming Xie
Keyword(s):  
Limit Cycle ◽  
Mobile Agents ◽  
Formation Control
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