Collision-free formation control for multi-agent systems with dynamic mapping
Date
2020
Authors
Liu, Y.
Shi, P.
Lim, C.C.
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Journal article
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IEEE Transactions on Circuits and Systems, Part 2: Express Briefs, 2020; 67(10):1984-1988
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Yutong Liu, Peng Shi, Cheng-Chew Lim
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Abstract
In this paper, a formation control strategy is proposed for multiple elliptical agents. The multiple elliptical agents can form a predefined formation in any 2D space. The controller is based on the neighborhood of each agent and the optimal mapping decision for the whole group. The collision-free algorithm is built based on direction and distance of avoidance group of each agent. A novel adaptive random mapping algorithm is established to obtain the optimal mapping to enhance the effectiveness. Simulation results are given to illustrate the performance of the formation control strategy.
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© 2019 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.