The problem of position consensus and collision avoidance are investigated in this paper. Firstly, a position consensus control strategy is presented for leader-following multi-agent systems. Secondly, in order to guarantee that the agents arrive in a consensus position with collision avoidance, the collision avoidance potential functions are applied to the consensus control protocol. The stability of the whole system is guaranteed by the Lyapunov function. Finally, simulations are provided to demonstrate the effectiveness of the presented control protocol.
Consensus Control and Collision Avoidance of Multi-agent System Based on Artificial Potential Field
Lect. Notes Electrical Eng.
2021-10-30
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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