Abstract
The formation control problem of a multi-agent system with target tracking and navigation is resolved by a gradient based extremum seeking control (ESC) associated with artificial potential functions methodology in this paper. It aims to maintain and achieve a stable formation for a swarm of multi-agent system, while guaranteeing tracking of a specified trajectory. By incorporation of artificial potential functions and extremum seeking control method, the potential function is minimized to achieve formation control and target tracking. The global trajectory is generated while the formation control and target tracking are carried out. A histogram-based local navigation integrated with map building is then applied to direct one of the agents to follow the planned trajectory to track the target while traversing with the rest of the agents. The simulation studies of multiple autonomous mobile robots are provided to demonstrate the effectiveness of the proposed hybrid control method.
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