Potential-based obstacle avoidance in formation control
Jia WANG
Xiaobei WU
Zhiliang XU
摘要：Based on the double integrator mathematic model,a new kind of potential function is presented in this paper by referring to the concepts of the electric field;then a new formation control method is proposed,in which the potential functions are used between agent-agent and between agent-obstacle,while state feedback control is applied for the agent and its goal.This strategy makes the whole potential field simpler and helps avoid some local minima.The stability of this combination of potential functions and state feedback control is proven.Some simulations are presented to show the rationality of this control method.
机标关键词：formation controlstate feedback controlcontrol methodpotential functionmathematic modelpotential fieldelectric fieldlocal minima
资助基金：the Jiangsu Province Fundamental Research Plan(Natural Science Foundation)(BK2006202)
论文发表日期：2008-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：6( 311-316 )
英文信息