Globally stable rigid formation control for multi-robot systems

Wang, Qin; Zhu, Yanchao; Li, Juan; Hua, Qingguang

doi:10.1109/chicc.2015.7260829

Cited by 2 publications

(1 citation statement)

References 14 publications

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“…There are many algorithms for maintaining the formation of mobile groups, such as Leader-Follower, behaviour-based and virtual structure methods [3][4][5]. The Leader-Follower algorithm selects an Agent entity in the CGF formation and uses it as the leader of the mobile group.…”

Section: Introductionmentioning

confidence: 99%

Research on CGF Formation Maintenance and Obstacle Avoidance

Wang¹,

Qiao²

2018

MATEC Web Conf.

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In order to solve the problem of CGF formation avoiding obstacles, avoiding collisions and reach the target point in the simulated battlefield environment, combined with the behaviour-based method, the following algorithm will be improved to control the CGF formation. In this paper, the motion of CGF formation is decomposed into moving to target, maintaining formation, avoiding obstacles, restoring formation, reaching target, and a linear feedback mechanism based on the relative position of leader and follower is introduced to prevent the occurrence of the team. The tangent obstacle avoidance algorithm evades obstacles. The simulation experiment applies the upper-layer behavioural reasoning to guide the structure of the underlying physical model, and the SOAR agent makes the choice of the state of the environment and the behaviour, and the underlying physical model implements the behaviour. The results show that the strategy can keep the CGF formation in the desired formation, avoid internal collisions while avoiding obstacles, and quickly restore the formation after reaching obstacles, reach the target location and achieve good results.

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Section: Introductionmentioning

confidence: 99%