Earticle

초록

영어

In this paper, we present a new approach to obstacle avoidance for a group of agents moving in a formation. The goal of the group is to move through a partially unknown environment with obstacles and keep the formation until they have reached the destination. The approach proposed treats the multi-agent in the formation as a whole, and sets a free region for all the agents, in which the agents can keep the formation and avoid the obstacles. Consequently, the problem of obstacle avoidance of each agent is transformed to the problem for the leader to look for the free region around the obstacles. We illustrate the method with an example. The simulation results show the feasibility of the proposed obstacle avoidance method.

목차

Abstract
 1. Introduction
 2. Leader-follower based Formation
 3. Obstacle Avoidance of Multi-agent while Keeping Formation
 4. Simulation and Results
 5. Conclusions
 Acknowledgements
 References

키워드

저자

• Liu Yutian [ Faculty of Electronic and Information Engineering, Zhejiang Wanli University, Ningbo,315100 China ]
• Hu Junjie [ Faculty of Electronic and Information Engineering, Zhejiang Wanli University, Ningbo,315100 China ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605