Target Tracking and Obstacle Avoidance for Multi-agent Systems
This paper considers the problems of target tracking and obstacle avoidance for multi-agent systems. To solve the problem that multiple agents cannot effectively track the target while avoiding obstacle in dynamic environment, a novel control algorithm based on potential function and behavior rules...
Saved in:
| Published in: | International journal of automation and computing Vol. 7; no. 4; pp. 550 - 556 |
|---|---|
| Main Author: | |
| Format: | Journal Article |
| Language: | Chinese |
| Published: |
2010
|
| Subjects: | |
| Online Access: | Get full text |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Summary: | This paper considers the problems of target tracking and obstacle avoidance for multi-agent systems. To solve the problem that multiple agents cannot effectively track the target while avoiding obstacle in dynamic environment, a novel control algorithm based on potential function and behavior rules is proposed. Meanwhile, the interactions among agents are also considered. According to the state whether an agent is within the area of its neighbors＇ influence, two kinds of potential functions are presented. Meanwhile, the distributed control input of each agent is determined by relative velocities as well as relative positions among agents, target and obstacle. The maximum linear speed of the agents is also discussed. Finally, simulation studies are given to demonstrate the performance of the proposed algorithm. |
|---|---|
| Bibliography: | TP18 Target tracking, obstacle avoidance, potential function, multi-agent systems TN953 11-5350/TP |
| ISSN: | 1476-8186 1751-8520 |