Formation Control with Collision Avoidance for First-Order Multi-Agent Systems Using Bounded Vector Fields

Resumen: In this paper, we propose a solution to the formation control problem with collision avoidance for an arbitrary number of first-order agents by using repulsive vector fields with bounded magnitude. When the agents are far enough from each other, e. i., there is no risk of collision, they move at some known velocity determined by the application of a saturation function. It is assumed that every agent is able to detect other robots or obstacles into a circular region and apply repulsive vector fields. Once an agent detects any other agent or obstacle into its sensing radius, it regards that there exists an unstable focus in the position of the surrounding object. These fields are such that the agents neither become nearer than a predefined collision radius nor exceed a maximum control input magnitude. The application of a reactive component of the control law is done by means of a continuous function which makes the whole control law to be smooth. Simulations were carried out to verify the performance of the proposed scheme.

¿Cómo citar?

Juan Francisco Flores-Resendiz*, Jesus David Aviles & Eduardo Aranda-Bricaire. Formation Control with Collision Avoidance for First-Order Multi-Agent Systems Using Bounded Vector Fields. Memorias del Congreso Nacional de Control Automático, pp. 1-6, 2020.

Palabras clave

Multi-agent systems, formation control, collision avoidance, repulsive vector fields, saturated control

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