Decentralized Formation Control and Obstacles Avoidance Based on Potential Field Method

A new decentralized formation control based on electric field artificial potential is proposed in two dimensions. Making reference to the potential in electric field, the control of agent derived from a weighting of the relative importance of different artificial potential while formation keeping, o...

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Bibliographic Details
Main Authors: Jia Wang, Xiao-Bei Wu, Zhi-Liang Xu
Format: Conference Proceeding
Language:English
Subjects:
Artificial potential field
Automatic control
Communication system control
Electric potential
Feedback
Formation control
Navigation
Obstacle avoidance
Orbital robotics
Robot sensing systems
Robust control
Space vehicles
Underwater vehicles
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Summary:A new decentralized formation control based on electric field artificial potential is proposed in two dimensions. Making reference to the potential in electric field, the control of agent derived from a weighting of the relative importance of different artificial potential while formation keeping, obstacles avoidance and collision free. The research is based on the model of double integral equation. A strategy of the decentralized formation control based on the artificial potential is given and the proof of stability of this new formation control is presented. The simulation results show that agents can avoid the different shape obstacles effectively
ISSN:2160-133X
DOI:10.1109/ICMLC.2006.258457