文章基本信息

标题：Priority Task-Based Formation Control and Obstacle Avoidance of Holonomic Agents with Continuous Control Inputs
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作者：Miguel A. Trujillo ; Héctor M. Becerra ; David Gómez-Gutiérrez 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：13
页码：216-222
DOI：10.1016/j.ifacol.2018.07.281
语种：English
出版社：Elsevier
摘要：AbstractThis work addresses the problem of controlling a network of connected and holonomic agents to achieve a formation while obstacles are avoided. The agents themselves can be obstacles for each other or there may be fixed obstacles in the environment. The proposed control law is computed by the adaptive convex combination of two control laws dealing with two tasks, one devoted to achieve a desired formation and the other focused on obstacle avoidance. The adaptive convex combination is twofold, in one hand it prioritizes the obstacle avoidance task when an agent is in the neighborhood of an obstacle, and in the other hand it maintains a continuous control law. Moreover, the formation is formulated as a consensus problem and a novel finite time control law is used to solve this problem.
关键词：KeywordsConsensusmulti-agent systemtask-based control