Abstract
This paper addresses the formation control with obstacle avoidance for multi-agent systems. The control task is finished by a weighted graph and consensus theory. With the utilization of the weights in control law, desired formation shape can be reached. An appropriate weight function is designed for the edges of the graph to avoid obstacles. For complex obstacles distribution, an adaptive tension coefficient is proposed. Based on Lyapunov stability theory, it is proved that the proposed formation approach can realize the control objective. The proposed formation control strategy is also extended to non-holonomic wheeled robot model. Finally, the effectiveness of the proposed formation scheme is further confirmed by simulation studies.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
