Comparison of Formation Algorithms with Collision Avoidance for Second-Order Agents

Abstract

This work compares two novel strategies that address formation control with collision avoidance for a group of second-order agents. The first control strategy is based on the Backstepping approach (B), while the second is based on the Nested Saturation methodology (NS). Both approaches utilize the Repulsive Vector Fields (RVFs) approach for avoiding collisions. Two numerical simulations are carried out to compare the performance of both approaches. For the first numerical simulation, the simplest case of collision avoidance is considered, that is, the interchange of the position of two agents. On the other hand, for the second numerical simulation, the formation with collision avoidance for a group of nine agents is considered.