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

Author

Listed:
  • Jing Yan

    (Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, P. R. China)

  • Xinping Guan

    (#x2020;Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, P. R. China)

  • Xiaoyuan Luo

    (Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, P. R. China)

  • Cailian Chen

    (#x2020;Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, P. R. China)

Abstract

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.

Suggested Citation

  • Jing Yan & Xinping Guan & Xiaoyuan Luo & Cailian Chen, 2017. "Formation Control and Obstacle Avoidance for Multi-Agent Systems Based on Virtual Leader-Follower Strategy," International Journal of Information Technology & Decision Making (IJITDM), World Scientific Publishing Co. Pte. Ltd., vol. 16(03), pages 865-880, May.
    • Handle: RePEc:wsi:ijitdm:v:16:y:2017:i:03:n:s0219622014500151
    DOI: 10.1142/S0219622014500151
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    References listed on IDEAS

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