Formation control of non-holonomic agents with collision avoidance

Publikationstyp
Conference Paper
Publikationsdatum
2015-07
Sprache
English
Author
Ahmadi Barogh, Siavash 
Rosero, Esteban 
Werner, Herbert 
Institut
Regelungstechnik E-14 
TORE-URI
http://hdl.handle.net/11420/7389
First published in
Proceedings of the American Control Conference 
Volume
2015-July
Start Page
757
End Page
762
Article Number
7170825
Citation
American Control Conference, ACC: 7170825 (2015-07)
Contribution to Conference
American Control Conference, ACC 2015 
Publisher DOI
10.1109/ACC.2015.7170825
Scopus ID
2-s2.0-84940933077
In this paper a decentralized formation control law to achieve a desired formation and to avoid collision between agents and obstacles for non-holonomic multi-agent systems is proposed. It is assumed that each agent knows its relative position and can detect any object within the sensor range. The controllers are implemented locally on each agent. Stability conditions for achieving desired formation and for avoiding collision are provided. Simulation results to illustrate the proposed controllers are presented.