Target Tracking and Obstacle Avoidance for Multi-agent Systems

作     者：Jing Yan Xin-Ping Guan Fu-Xiao Tan 

作者机构：Institute of Electrical Engineering Yanshan University Qinhuangdao 066004 PRC School of Electronic and Electric Engineering Shanghai Jiao Tong University Shanghai 200240 PRC School of Computer and Information Fuyang Teachers College Fuyang 236041 PRC 

出 版 物：《International Journal of Automation and computing》 (国际自动化与计算杂志（英文版）)

年 卷 期：2010年第7卷第4期

页      面：550-556页

核心收录：

学科分类：12[管理学] 080904[工学-电磁场与微波技术] 0809[工学-电子科学与技术（可授工学、理学学位）] 08[工学] 0810[工学-信息与通信工程] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 081104[工学-模式识别与智能系统] 081105[工学-导航、制导与控制] 0802[工学-机械工程] 0835[工学-软件工程] 081001[工学-通信与信息系统] 081002[工学-信号与信息处理] 0825[工学-航空宇航科学与技术] 0701[理学-数学] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：supported by National Basic Research Program of China (973 Program) (No. 2010CB731800) Key Program of National Natural Science Foundation of China (No. 60934003) Key Project for Natural Science Research of Hebei Education Department(No. ZD200908) 

主　　题：Target tracking obstacle avoidance potential function multi-agent systems 

摘      要：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.