Abstract
This paper investigates the collision avoidance problem in formation control. First, a collision avoidance algorithm is proposed by using the gradient-based method. Then, a collision-free consensus based formation protocol is developed for a group of second-order systems with the aid of graph theory. In particular, the formation protocol is designed only based on the relative information obtained via the network connection, without the global information of the agents. Finally, simulation results with different topologies verify the effectiveness of the proposed algorithms.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 36th Chinese Control Conference, CCC 2017 |
| Editors | Tao Liu, Qianchuan Zhao |
| Publisher | IEEE Computer Society |
| Pages | 8183-8188 |
| Number of pages | 6 |
| ISBN (Electronic) | 9789881563934 |
| DOIs | |
| Publication status | Published - 7 Sept 2017 |
| Externally published | Yes |
| Event | 36th Chinese Control Conference, CCC 2017 - Dalian, China Duration: 26 Jul 2017 → 28 Jul 2017 |
Publication series
| Name | Chinese Control Conference, CCC |
|---|---|
| ISSN (Print) | 1934-1768 |
| ISSN (Electronic) | 2161-2927 |
Conference
| Conference | 36th Chinese Control Conference, CCC 2017 |
|---|---|
| Country/Territory | China |
| City | Dalian |
| Period | 26/07/17 → 28/07/17 |
Keywords
- Multi-Agent Systems
- consensus algorithm
- formation control
- gradient-based collision avoidance
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Gong, Q., Wang, C., Qi, Z., & Ding, Z. (2017). Gradient-based collision avoidance algorithm for second-order multi-agent formation control. In T. Liu, & Q. Zhao (Eds.), Proceedings of the 36th Chinese Control Conference, CCC 2017 (pp. 8183-8188). Article 8028652 (Chinese Control Conference, CCC). IEEE Computer Society. https://doi.org/10.23919/ChiCC.2017.8028652