{"title":"Formation stabilization and tracking control of mobile agents using local potential functions","authors":"K. D. Do","doi":"10.1109/ACC.2006.1656536","DOIUrl":null,"url":null,"abstract":"We present a constructive method to design cooperative controllers that force a group of N mobile agents to stabilize at a fixed desired location in terms of both shape and orientation while guaranteeing no collisions between the agents can occur. The proposed formation stabilization solution is extended to formation tracking in 2-dimensional (2D) space. The control development is based on new local potential functions, which attain the minimum value when the desired formation is achieved, and are equal to infinity when a collision occurs","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"179 4","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2006-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2006 American Control Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ACC.2006.1656536","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 6
Abstract
We present a constructive method to design cooperative controllers that force a group of N mobile agents to stabilize at a fixed desired location in terms of both shape and orientation while guaranteeing no collisions between the agents can occur. The proposed formation stabilization solution is extended to formation tracking in 2-dimensional (2D) space. The control development is based on new local potential functions, which attain the minimum value when the desired formation is achieved, and are equal to infinity when a collision occurs
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