| 基于势函数的多智能体避撞队形控制 |
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| 引用本文： | 姚立强,宋艳荣,张术东. 基于势函数的多智能体避撞队形控制[J]. 烟台大学学报(自然科学与工程版), 2014, 0(1): 45-49,74 |
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| 作者姓名： | 姚立强 宋艳荣 张术东 |
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| 作者单位： | [1]烟台大学数学与信息科学学院,山东烟台264005 [2]海军航空工程学院系统科学与数学研究所,山东烟台264001 |
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| 基金项目： | 烟台大学青年基金资助项目（SXllZ3）. |
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| 摘 要： | 研究了一类多智能体系统的队形控制问题,改进了现有避撞势函数的构造方法.基于势函数的方法设计了控制策略,在控制策略的作用下,多智能体系统实现了期望的队形,避免了碰撞的发生.最后,仿真表明所提方法的可行性和有效性.
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| 关 键 词： | 避撞 多智能体 队形控制 势函数 |
Collision Avoidance for Formation Control of Multi-agent System Based on Potential Function |
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| YAO Li-qiang,SONG Yan-rong,ZHANG Shu-dong. Collision Avoidance for Formation Control of Multi-agent System Based on Potential Function[J]. Journal of Yantai University(Natural Science and Engineering edirion), 2014, 0(1): 45-49,74 |
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| Authors: | YAO Li-qiang SONG Yan-rong ZHANG Shu-dong |
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| Affiliation: | 1. School of Mathematics and Information Science, Yantai University, Yantai 264005, China; 2. Systems Science and Mathematics Institute, Naval Aeronautical and Astronautical University, Yantai 264001, China) |
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| Abstract: | A formation control algorithm is proposed for a multi-agent system and the current collision potential function method is improved. Based on the potential function method, control strategy is designed. As a result, the system can be guaranteed to asymptotically converges to the formation, and collisions among the members in the for- mation can be avoided. Finally, simulation studies are provided to verify the feasibility and effectiveness of the pro- posed method. |
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| Keywords: | collision avoidance multi-agent systems formation control potential function, |
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