Formation Tracking of Heterogeneous Mobile Agents Using Distance and Area Constraints

This paper presents two formation tracking control strategies for a combined set of single and double integrator agents with an arbitrary undirected communication topology. The first approach is based on the design of distance-based potential functions with interagent collision avoidance using local...

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Bibliographic Details
Published inComplexity (New York, N.Y.) Vol. 2017; no. 2017; pp. 1 - 13
Main Authors Flores-Godoy, J. J., Fernández-Anaya, Guillermo, Ferreira-Vázquez, E. D., Hernández-Martínez, E. G.
Format Journal Article
LanguageEnglish
Published Cairo, Egypt Hindawi Publishing Corporation 01.01.2017
Hindawi
Hindawi Limited
Wiley
Subjects
Agents (artificial intelligence)
Algorithms
Collision avoidance
Collision dynamics
Communication
Computer simulation
Control algorithms
Control systems
Control theory
Convergence (Mathematics)
International conferences
Mathematical research
Multi-agent systems
Robotics
Robots
Topology
Tracking control
Unmanned aerial vehicles
Velocity
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Summary:This paper presents two formation tracking control strategies for a combined set of single and double integrator agents with an arbitrary undirected communication topology. The first approach is based on the design of distance-based potential functions with interagent collision avoidance using local information about the distance and orientation between agents and the desired trajectory. The second approach adds signed area constraints to the desired formation specification and a control strategy that uses distance as well as area terms is designed to achieve tracking convergence. Numerical simulations show the performance from both control laws.
ISSN:1076-2787
1099-0526
DOI:10.1155/2017/9404193