Decentralized Formation Control and Obstacles Avoidance Based on Potential Field Method

Author

Wang, Jia ; Wu, Xiao-bei ; Xu, Zhi-liang

Author_Institution

Dept. of Autom., Nanjing Univ. of Sci. & Technol.

fYear

2006

fDate

13-16 Aug. 2006

Firstpage

803

Lastpage

808

Abstract

A new decentralized formation control based on electric field artificial potential is proposed in two dimensions. Making reference to the potential in electric field, the control of agent derived from a weighting of the relative importance of different artificial potential while formation keeping, obstacles avoidance and collision free. The research is based on the model of double integral equation. A strategy of the decentralized formation control based on the artificial potential is given and the proof of stability of this new formation control is presented. The simulation results show that agents can avoid the different shape obstacles effectively

Keywords

collision avoidance; decentralised control; electric fields; integral equations; mobile robots; stability; decentralized formation control; double integral equation; electric field artificial potential; obstacle avoidance; stability; Automatic control; Communication system control; Cybernetics; Electric potential; Feedback; Machine learning; Navigation; Orbital robotics; Robot sensing systems; Robust control; Shape; Space vehicles; Underwater vehicles; Artificial potential field; Formation control; Obstacle avoidance;

fLanguage

English

Publisher

ieee

Conference_Titel

Machine Learning and Cybernetics, 2006 International Conference on

Conference_Location

Dalian, China

Print_ISBN

1-4244-0061-9

Type

conf

DOI

10.1109/ICMLC.2006.258457

Filename

4028172