Obstacle Avoidance for Multi-Agent Systems Based on Stream Function and Hierarchical Associations

摘要：

This paper deals with the problem of obstacle avoidance for multi-agent systems. A novel framework is presented which combines the stream function with the artificial potential field. The introduction of stream function makes obstacle avoidance smoother while interactive potential guarantees stability of the system. A dynamic structure with visibility constraint and hierarchical associations is further explored to improve the performance. Finally, results of simulation as well as experiment on Pioneer3 robots verify the validity of the proposed method.

关键词： multi-agent obstacle avoidance stream function hierarchical associations

作者: BAI Yongqiang XIAO Wenzhi FANG Hao LI Jixiang CUI Jing

作者单位: School of Automation, Beijing Institute of Technology, Beijing 100081, China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education, Beijing 100081, China

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 6363-6367

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）