Formation control with collision avoidance for first and second order agents
This article addresses the formation control problem with collision avoidance for a multi-agent system conformed by a first-order and second-order agent. The control strategy is based on the saturation functions approach to achieve the desired formation and the Repulsive Vector Fields (RVF) methodol...
| Autores: | , , , |
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| Formato: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2023 |
| País: | México |
| Recursos: | UNIVERSIDAD AUTÓNOMA DEL ESTADO DE HIDALGO |
| Repositorio: | PÄDI Boletín Científico de Ciencias Básicas e Ingeniería del ICBI |
| Idioma: | español |
| OAI Identifier: | oai:repository.uaeh.edu.mx:article/11332 |
| Acesso em linha: | https://repository.uaeh.edu.mx/revistas/index.php/icbi/article/view/11332 |
| Access Level: | acceso abierto |
| Palavra-chave: | Formation control Collision avoidance First-order and second-order agents Control de formación Evasión de colisiones Agentes de primer y segundo orden |
| Resumo: | This article addresses the formation control problem with collision avoidance for a multi-agent system conformed by a first-order and second-order agent. The control strategy is based on the saturation functions approach to achieve the desired formation and the Repulsive Vector Fields (RVF) methodology that allows for avoiding collisions. Due to the nature of the second-order agent, it can continue its motion despite reaching the desired formation; therefore, to avoid this inconvenience, a third agent is added as a reference with null dynamics. It is shown that if there is a directed spanning tree with a root node in the third agent, the position and velocity errors converge to zero. Furthermore, it is assumed that position, velocity, and acceleration variables can be measured. Numerical simulations are presented to evaluate the performance of agents using different formation graphs. |
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