摘要
In this paper, dynamic role assignment and collision avoidance based on consensus tracking algorithm are investigated for systems with complete communication graph. First, based on the traditional consensus protocol, consensus-based control algorithm with dynamic role assignment is proposed. To make each agent reach the closest formation point, we give an efficient assignment solution by solving an optimal problem with Hungarain algorithm. Second, by constructing collision avoidance potential functions, modified consensus algorithms containing corresponding gradient terms are presented for multi-agents systems, which guarantee collision avoidance. Simulation results show the effectiveness of the proposed algorithms.
| 源语言 | 英语 |
|---|---|
| 主期刊名 | 26th Chinese Control and Decision Conference, CCDC 2014 |
| 出版商 | IEEE Computer Society |
| 页 | 3681-3686 |
| 页数 | 6 |
| ISBN（印刷版） | 9781479937066 |
| DOI | |
| 出版状态 | 已出版 - 2014 |
| 活动 | 26th Chinese Control and Decision Conference, CCDC 2014 - Changsha, 中国 期限: 31 5月 2014 → 2 6月 2014 |
出版系列
| 姓名 | 26th Chinese Control and Decision Conference, CCDC 2014 |
|---|
会议
| 会议 | 26th Chinese Control and Decision Conference, CCDC 2014 |
|---|---|
| 国家/地区 | 中国 |
| 市 | Changsha |
| 时期 | 31/05/14 → 2/06/14 |
指纹
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Sun, Z., & Xia, Y. (2014). Consensus-based formation control with dynamic role assignment. 在 26th Chinese Control and Decision Conference, CCDC 2014 (页码 3681-3686). 文章 6852819 (26th Chinese Control and Decision Conference, CCDC 2014). IEEE Computer Society. https://doi.org/10.1109/CCDC.2014.6852819