Collision avoidance for second-order mobile robots

https://doi.org/10.58571/CNCA.AMCA.2022.080

Resumen: This paper addresses the collision avoidance problem for a group of two second-order mobile robots. The proposed control strategy is composed of a part that achieves a desired formation, based on the Fundamental Consensus Algorithm, which ensures that agents converge to the desired formation. On the other hand, Artificial Vector Fields (AVF) are used for collision avoidance. Furthermore, a parameter is designed to allow an adequate scaling of the AVF and to ensure non-collision. Numerical simulations are presented to validate the performance of the proposed control strategy.

¿Cómo citar?

Parra-Marín, A., Aranda-Bricaire, E. & González-Sierra, J. Collision avoidance for second-order mobile robots. Memorias del Congreso Nacional de Control Automático, pp. 480-485, 2022. https://doi.org/10.58571/CNCA.AMCA.2022.080

Palabras clave

Sistemas Multi-Agente

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