A Hybrid Multiagent Collision Avoidance Method for Formation Control | |
Sui Zezhi1,2; Pu Zhiqiang1,2; Yi Jianqiang1,2; Xiong Tianyi1,2 | |
2019-08 | |
会议名称 | 2019 International Conference on Intelligent Robotics and Applications |
会议日期 | Aug. 8-11, 2019 |
会议地点 | Shenyang, China |
出版者 | Springer |
摘要 | Collision avoidance in formation control is an essential and challenging problem in multiagent filed. Specifically, the agents have to consider both formation maintenance and collision avoidance. However, this problem is not fully considered in existing works. This paper presents a hybrid collision avoidance method for formation control. The formation control is designed based on consensus theory while the collision avoidance is achieved by utilizing optimal reciprocal collision avoidance (ORCA). Furthermore, the stability of the multiagent systems is proved. Finally, a simulation demonstrates the effectiveness of the proposed method. |
收录类别 | EI |
语种 | 英语 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/39698 |
专题 | 综合信息系统研究中心 |
作者单位 | 1.Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China 2.University of Chinese Academy of Sciences, Beijing, 100049, China |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Sui Zezhi,Pu Zhiqiang,Yi Jianqiang,et al. A Hybrid Multiagent Collision Avoidance Method for Formation Control[C]:Springer,2019. |
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