Formation Control and Obstacle Avoidance for Multi-Agent Systems Using Barrier Lyapunov Functions

2018 ◽  
Author(s):  
Jie Lian ◽  
Yang Meng ◽  
Li-li Li
Keyword(s):  
Obstacle Avoidance ◽  
Lyapunov Functions ◽  
Formation Control ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
Barrier Lyapunov Functions

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

2017 ◽  
Vol 16 (03) ◽  
pp. 865-880 ◽  
Author(s):  
Jing Yan ◽  
Xinping Guan ◽  
Xiaoyuan Luo ◽  
Cailian Chen
Keyword(s):  
Obstacle Avoidance ◽  
Formation Control ◽  
Rabbit Model ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Evasion Game ◽  
Multi Agent ◽  
Mobile Target ◽  
Virtual Leader ◽  
Avoidance Problem

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.

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