Reciprocal collision avoidance for a group of second order agents

2016 ◽  
Author(s):  
J. Gonzalez-Sierra ◽  
J. Santiaguillo-Salinas ◽  
E. Aranda-Bricaire
Keyword(s):  
Collision Avoidance ◽  
Second Order

scholarly journals UAV Group Formation Collision Avoidance Method Based on Second-Order Consensus Algorithm and Improved Artificial Potential Field

Symmetry ◽  
2019 ◽  
Vol 11 (9) ◽  
pp. 1162 ◽  
Author(s):  
Yang Huang ◽  
Jun Tang ◽  
Songyang Lao
Keyword(s):  
Collision Avoidance ◽  
Potential Field ◽  
Group Formation ◽  
Target Position ◽  
Field Method ◽  
Second Order ◽  
Consensus Algorithm ◽  
Artificial Potential Field ◽  
Potential Field Method ◽  
Artificial Potential Field Method

The problem of collision avoidance of an unmanned aerial vehicle (UAV) group is studied in this paper. A collision avoidance method of UAV group formation based on second-order consensus algorithm and improved artificial potential field is proposed. Based on the method, the UAV group can form a predetermined formation from any initial state and fly to the target position in normal flight, and can avoid collision according to the improved smooth artificial potential field method when encountering an obstacle. The UAV group adopts the “leader–follower” strategy, that is, the leader UAV is the controller and flies independently according to the mission requirements, while the follower UAV follows the leader UAV based on the second-order consensus algorithm and formations gradually form during the flight. Based on the second-order consensus algorithm, the UAV group can achieve formation maintenance easily and the Laplacian matrix used in the algorithm is symmetric for an undirected graph. In the process of obstacle avoidance, the improved artificial potential field method can solve the jitter problem that the traditional artificial potential field method causes for the UAV and avoids violent jitter. Finally, simulation experiments of two scenarios were designed to verify the collision avoidance effect and formation retention effect of static obstacles and dynamic obstacles while the two UAV groups fly in opposite symmetry in the dynamic obstacle scenario. The experimental results demonstrate the effectiveness of the proposed method.

Adaptive leader-following formation control with collision avoidance for a class of second-order nonlinear multi-agent systems

2019 ◽  
Vol 350 ◽  
pp. 282-290 ◽  
Author(s):  
Quan Shi ◽  
Tieshan Li ◽  
Jingqi Li ◽  
C.L. Philip Chen ◽  
Yang Xiao ◽  
...  
Keyword(s):  
Collision Avoidance ◽  
Formation Control ◽  
Second Order ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Leader Following ◽  
Multi Agent

Distributed Observer Type Protocol for Flocking of Linear Second-Order Multi-Agent Systems Subject to External Disturbance

2019 ◽  
Vol 141 (6) ◽  
Author(s):  
Sahar Yazdani ◽  
Mohammad Haeri
Keyword(s):  
Collision Avoidance ◽  
Relative Velocity ◽  
External Disturbance ◽  
Second Order ◽  
Multi Agent Systems ◽  
State Information ◽  
Agent Systems ◽  
Full State ◽  
Multi Agent ◽  
Virtual Leader

This paper studies the leader–follower flocking of multi-agent systems for the linear second-order dynamics, subject to the external disturbance problem. It is assumed that the dynamic of the leader is Lipschitz-type. Also, the velocity is the output of the system, and full-state information is not available for feedback. A distributed full-order observer is employed to estimate every agent's states and external disturbance. A control protocol for each agent is designed based on the measurement of its output/velocity and relative velocity of its neighbors. Under the proposed protocol, the velocity convergence of whole agents to the velocity of the virtual leader is guaranteed as well as the connectivity of network and collision avoidance among agents are ensured. Finally, a simulation example is provided to show the effectiveness of the results.

scholarly journals Event-Triggered Control for Nonlinear Uncertain Second-Order Multi-Agent Formation With Collision Avoidance

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 104489-104499 ◽  
Author(s):  
Jun Zhou ◽  
Yaohua Guo ◽  
Gongjun Li ◽  
Jun Zhang
Keyword(s):  
Collision Avoidance ◽  
Second Order ◽  
Multi Agent ◽  
Event Triggered

Formation control of a second-order UAVs system under switching topology with obstacle/collision avoidance

2020 ◽  
Vol 3 (3) ◽  
pp. 219-227
Author(s):  
Shaoyang Mu ◽  
Pingfang Zhou ◽  
Dengping Duan ◽  
Jiwei Tang
Keyword(s):  
Collision Avoidance ◽  
Formation Control ◽  
Second Order ◽  
Switching Topology
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