Consensus and Obstacle Avoidance of Partially-informed Multi-agent System
Authors
Jiaojie Li, Wei Zhang, Yupu Yang
Corresponding Author
Jiaojie Li
Available Online April 2015.
- DOI
- 10.2991/cmes-15.2015.71How to use a DOI?
- Keywords
- collective movement, partial informed, obstacle avoidance, consensus, multi-agent system.
- Abstract
In this paper, we study the collective obstacle avoidance problem when only part of agents is informed of obstacle information. The control protocol is proposed to lead second order agents trend to state consensus in the existence of smooth convex obstacles. Both the position and velocity of agents will trend to the same. The moving obstacles which have varying acceleration can also be avoid, even without acceleration sensor. We prove the convergence and collision avoidance of multi-agent system. A simulation demonstrates the effect of the proposed control protocol.
- Copyright
- © 2015, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Jiaojie Li AU - Wei Zhang AU - Yupu Yang PY - 2015/04 DA - 2015/04 TI - Consensus and Obstacle Avoidance of Partially-informed Multi-agent System BT - Proceedings of the 2nd International Conference on Civil, Materials and Environmental Sciences PB - Atlantis Press SP - 256 EP - 259 SN - 2352-5401 UR - https://doi.org/10.2991/cmes-15.2015.71 DO - 10.2991/cmes-15.2015.71 ID - Li2015/04 ER -