Multi-agent Formation Optimization Obstacle Avoidance Tracking Control Based on Control Barrier Function

Bi Wu; Junqi Wu; Hongbin Deng

doi:10.1007/978-981-97-3336-1_8

Multi-agent Formation Optimization Obstacle Avoidance Tracking Control Based on Control Barrier Function

Bi Wu, Junqi Wu, Hongbin Deng^*

^*Corresponding author for this work

School of Mechatronical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, a multi-agent formation optimization obstacle avoidance method based on barrier function is proposed. Firstly, a distributed formation controller is designed based on consensus, and the leader-follower formation control is realized. Then, the barrier function is used to establish multiple constraints containing safety constraints. Furthermore, combined with the distributed controller and constraints, the optimized controller is obtained by quadratic programming. Finally, the method proposed in this paper can reduce the motion distance of the agent during obstacle avoidance while realizing formation control, and the advantages of the algorithm are verified by numerical simulation.

Original language	English
Title of host publication	Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Decision and Planning Technologies
Editors	Xiaoduo Li, Xun Song, Yingjiang Zhou
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	83-93
Number of pages	11
ISBN (Print)	9789819733354
DOIs	https://doi.org/10.1007/978-981-97-3336-1_8
Publication status	Published - 2024
Event	7th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2023 - Nanjing, China Duration: 24 Nov 2023 → 27 Nov 2023

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	1207 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	7th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2023
Country/Territory	China
City	Nanjing
Period	24/11/23 → 27/11/23

Keywords

constrained control
control barrier function
formation control

Access to Document

10.1007/978-981-97-3336-1_8

Cite this

Wu, B., Wu, J., & Deng, H. (2024). Multi-agent Formation Optimization Obstacle Avoidance Tracking Control Based on Control Barrier Function. In X. Li, X. Song, & Y. Zhou (Eds.), Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Decision and Planning Technologies (pp. 83-93). (Lecture Notes in Electrical Engineering; Vol. 1207 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-97-3336-1_8

Wu, Bi ; Wu, Junqi ; Deng, Hongbin. / Multi-agent Formation Optimization Obstacle Avoidance Tracking Control Based on Control Barrier Function. Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Decision and Planning Technologies. editor / Xiaoduo Li ; Xun Song ; Yingjiang Zhou. Springer Science and Business Media Deutschland GmbH, 2024. pp. 83-93 (Lecture Notes in Electrical Engineering).

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title = "Multi-agent Formation Optimization Obstacle Avoidance Tracking Control Based on Control Barrier Function",

abstract = "In this paper, a multi-agent formation optimization obstacle avoidance method based on barrier function is proposed. Firstly, a distributed formation controller is designed based on consensus, and the leader-follower formation control is realized. Then, the barrier function is used to establish multiple constraints containing safety constraints. Furthermore, combined with the distributed controller and constraints, the optimized controller is obtained by quadratic programming. Finally, the method proposed in this paper can reduce the motion distance of the agent during obstacle avoidance while realizing formation control, and the advantages of the algorithm are verified by numerical simulation.",

keywords = "constrained control, control barrier function, formation control",

author = "Bi Wu and Junqi Wu and Hongbin Deng",

note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.; 7th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2023 ; Conference date: 24-11-2023 Through 27-11-2023",

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Wu, B, Wu, J & Deng, H 2024, Multi-agent Formation Optimization Obstacle Avoidance Tracking Control Based on Control Barrier Function. in X Li, X Song & Y Zhou (eds), Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Decision and Planning Technologies. Lecture Notes in Electrical Engineering, vol. 1207 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 83-93, 7th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2023, Nanjing, China, 24/11/23. https://doi.org/10.1007/978-981-97-3336-1_8

Multi-agent Formation Optimization Obstacle Avoidance Tracking Control Based on Control Barrier Function. / Wu, Bi; Wu, Junqi; Deng, Hongbin.
Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Decision and Planning Technologies. ed. / Xiaoduo Li; Xun Song; Yingjiang Zhou. Springer Science and Business Media Deutschland GmbH, 2024. p. 83-93 (Lecture Notes in Electrical Engineering; Vol. 1207 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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PY - 2024

Y1 - 2024

N2 - In this paper, a multi-agent formation optimization obstacle avoidance method based on barrier function is proposed. Firstly, a distributed formation controller is designed based on consensus, and the leader-follower formation control is realized. Then, the barrier function is used to establish multiple constraints containing safety constraints. Furthermore, combined with the distributed controller and constraints, the optimized controller is obtained by quadratic programming. Finally, the method proposed in this paper can reduce the motion distance of the agent during obstacle avoidance while realizing formation control, and the advantages of the algorithm are verified by numerical simulation.

AB - In this paper, a multi-agent formation optimization obstacle avoidance method based on barrier function is proposed. Firstly, a distributed formation controller is designed based on consensus, and the leader-follower formation control is realized. Then, the barrier function is used to establish multiple constraints containing safety constraints. Furthermore, combined with the distributed controller and constraints, the optimized controller is obtained by quadratic programming. Finally, the method proposed in this paper can reduce the motion distance of the agent during obstacle avoidance while realizing formation control, and the advantages of the algorithm are verified by numerical simulation.

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Wu B, Wu J, Deng H. Multi-agent Formation Optimization Obstacle Avoidance Tracking Control Based on Control Barrier Function. In Li X, Song X, Zhou Y, editors, Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Decision and Planning Technologies. Springer Science and Business Media Deutschland GmbH. 2024. p. 83-93. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-97-3336-1_8