Formation control with collision avoidance for first-order multi-agent systems: Experimental results

Flores-Resendiz, Juan Francisco; Meza-Herrera, J.; Aranda-Bricaire, E.

doi:10.1016/j.ifacol.2019.11.662

Cited by 4 publications

(1 citation statement)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In order to be more in line with the actual environment and enhance the robustness and anti-interference ability of the system, JF Flores Resendiz specified the communication diagram between robots to make the input speed constrain multiple mobile robots to converge to the desired formation, which improved the overall obstacle avoidance performance of the system. The amount of feedback was used as the control, based on the differences in neighbor behavior, thereby reducing communication loss and computing cost [9]. Zhou used a distributed control protocol to solve the problem of multi-mobile-robot formation considering sampling data and time delay [10].…”

Section: Introductionmentioning

confidence: 99%

Multi-Robot Formation Control Based on CVT Algorithm and Health Optimization Management

et al. 2022

View full text Add to dashboard Cite

In view of the low formation redundancy in the traditional rigid formation algorithm and its difficulty in dynamically adapting to the external environment, this study considers the use of the CVT (centroidal Voronoi tessellation) algorithm to control multiple robots to form the desired formation. This method significantly increases the complexity of the multi-robot system, its structural redundancy, and its internal carrying capacity. First, we used the CVT algorithm to complete the Voronoi division of the global map, and then changed the centroid position of the Voronoi cell by adjusting the density function. When the algorithm converged, it could ensure that the position of the generated point was the centroid of each Voronoi cell and control the robot to track the position of the generated point to form the desired formation. The use of traditional formations requires less consideration of the impact of the actual environment on the health of robots, the overall mission performance of the formation, and the future reliability. We propose a health optimization management algorithm based on minor changes to the original framework to minimize the health loss of robots and reduce the impact of environmental restrictions on formation sites, thereby improving the robustness of the formation system. Simulation and robot formation experiments proved that the CVT algorithm could control the robots to quickly generate formations, easily switch formations dynamically, and solve the formation maintenance problem in obstacle scenarios. Furthermore, the health optimization management algorithm could maximize the life of unhealthy robots, making the formation more robust when performing tasks in different scenarios.

show abstract

Section: Introductionmentioning

confidence: 99%

Multi-Robot Formation Control Based on CVT Algorithm and Health Optimization Management

et al. 2022

View full text Add to dashboard Cite

show abstract

Anti-collision and Obstacle Avoidance of Mobile Sensor-plus-actuator Networks over Distributed Parameter Systems with Time-varying Delay

Cui

Zhuang

et al. 2021

Int. J. Control Autom. Syst.

View full text Add to dashboard Cite

This paper addresses the anti-collision problem among mobile sensors-actuators, and settles the obstacle avoidance trouble between dynamic sensors-actuators and erratic obstacles in mobile sensor-actuator networks, which are based on a class of distributed parameter systems with time-varying delay. Initially, the radar obstacle avoidance technology is evolved into an obstacle avoidance function, combined with the anti-collision function. Subsequently, the static output feedback controller of distributed parameter systems is established. Then, by using the abstract development equation theory, operator semigroup approach and Lyapunov stability arguments, the stability analysis of the distributed parameter systems with time-varying delay is carried out. Moreover, an iterative and continuous control force on account of Newton's second law is constructed, which makes anti-collision and obstacle avoidance control of mobile sensors-actuators be realized, and accelerates the state of this delayed system to be stable. Finally, numerical simulation results indicate that the proposed control strategy is effective.

show abstract

Smooth collision avoidance for the formation control of first order multi-agent systems

González‐Sierra

Hernández‐Martínez

Ramírez‐Neria

et al. 2023

Robotics and Autonomous Systems

View full text Add to dashboard Cite

Formation control with collision avoidance for first-order multi-agent systems: Experimental results

Cited by 4 publications

References 15 publications

Multi-Robot Formation Control Based on CVT Algorithm and Health Optimization Management

Multi-Robot Formation Control Based on CVT Algorithm and Health Optimization Management

Anti-collision and Obstacle Avoidance of Mobile Sensor-plus-actuator Networks over Distributed Parameter Systems with Time-varying Delay

Smooth collision avoidance for the formation control of first order multi-agent systems

Contact Info

Product

Resources

About