Collision Avoidance in Multi-agent Formation Keeping Cooperative Control Systems
This paper proposes a collision avoidance method for multi-agent formation keeping cooperative control systems. Each agent is assumed to evolve in discrete time,based on locally computed control laws,which depend on the local information gathered from the cooperating neighboring agents.The collision avoidance problem in multi-agent formation keeping cooperative control is formulated in a distributed model predictive control framework with an added safety guarantee condition.Furthermore, the relations between communication among agents and system performance is also shown in this paper.Finally,a simulation example is given to illustrate the method proposed in this paper.
ZHANG Shijie DUAN Guangren
Center for Control Theory and Guidance Technology,Harbin Institute of Technology,Harbin 150001,P.R.China
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-5
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）