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Formation control of non-holonomic agents with collision avoidance
Publikationstyp
Conference Paper
Date Issued
2015-07
Sprache
English
Institut
TORE-URI
Volume
2015-July
Start Page
757
End Page
762
Article Number
7170825
Citation
American Control Conference, ACC 2015
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
IEEE
ISBN
978-1-4799-1773-0
978-1-4799-8684-2
978-1-4799-8685-9
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.
DDC Class
600: Technology