Virtual-leader Split/Rejoin-based Flocking Control With Obstacle Avoidance for Multi-agents

In the research of flocking control algorithm with obstacle avoidance, the constraints of obstacle information, shape and boundary limit their practical applications. To relax these constraints, we assume that the agent can only perceive the position of static obstacle boundary points within its sen...

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Bibliographic Details
Published in:International journal of control, automation, and systems automation, and systems, 2024-05, Vol.22 (5), p.1680-1690
Main Authors: Wu, Jianhui, Ji, Yuanfa, Sun, Xiyan, Liang, Weibin
Format: Article
Language:English
Subjects:
Algorithms
Control
Control algorithms
Control theory
Engineering
Mechatronics
Obstacle avoidance
Regular Papers
Robotics
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Summary:In the research of flocking control algorithm with obstacle avoidance, the constraints of obstacle information, shape and boundary limit their practical applications. To relax these constraints, we assume that the agent can only perceive the position of static obstacle boundary points within its sensing radius, and propose a virtual-leader split/rejoin-based flocking control algorithm with obstacle avoidance. In this algorithm, the virtual-leader is divided into target virtual-leader and bypass virtual-leader, the bypass virtual-leader is designed to lead the agent to move along the boundary of static obstacles, and the target virtual-leader is designed to lead multi-agents split by static obstacles perturbation to re-aggregate and realize the group objective following. Additionally, the position cooperation term is designed to realize the separation and aggregation between agents and between the agent and static obstacle boundary points, and the velocity consensus term is designed to realize velocity matching. Then, the sufficient conditions that the agent does not collide are demonstrated. Finally, it is further verified by simulations that the proposed algorithm can relax the constraints of obstacle shape and boundary, and achieve better environmental adaptability.
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-022-0950-6