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A Hybrid Multiagent Collision Avoidance Method for Formation Control

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Intelligent Robotics and Applications (ICIRA 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11743))

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Abstract

Collision avoidance in formation control is an essential and challenging problem in multiagent filed. Specifically, the agents have to consider both formation maintenance and collision avoidance. However, this problem is not fully considered in existing works. This paper presents a hybrid collision avoidance method for formation control. The formation control is designed based on consensus theory while the collision avoidance is achieved by utilizing optimal reciprocal collision avoidance (ORCA). Furthermore, the stability of the multiagent systems is proved. Finally, a simulation demonstrates the effectiveness of the proposed method.

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Funding

This work is supported by National Natural Science Foundation of China (NNSFC) No. 61603383, No. 61421004 and Beijing Advanced Innovation Center of Intelligent Robots and Systems under Grant 2016IRS23.

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Authors and Affiliations

  1. Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China

    Zezhi Sui, Zhiqiang Pu, Jianqiang Yi & Tianyi Xiong

  2. University of Chinese Academy of Sciences, Beijing, 100049, China

    Zezhi Sui, Zhiqiang Pu, Jianqiang Yi & Tianyi Xiong

Authors
  1. Zezhi Sui
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  2. Zhiqiang Pu
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  3. Jianqiang Yi
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  4. Tianyi Xiong
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Corresponding author

Correspondence to Zhiqiang Pu .

Editor information

Editors and Affiliations

  1. Shenyang Institute of Automation, Shenyang, China

    Haibin Yu

  2. Shenyang Institute of Automation, Shenyang, China

    Jinguo Liu

  3. Shenyang Institute of Automation, Shenyang, China

    Lianqing Liu

  4. University of Portsmouth, Portsmouth, UK

    Zhaojie Ju

  5. Shenyang Institute of Automation, Shenyang, China

    Yuwang Liu

  6. University of Portsmouth, Portsmouth, UK

    Dalin Zhou

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Sui, Z., Pu, Z., Yi, J., Xiong, T. (2019). A Hybrid Multiagent Collision Avoidance Method for Formation Control. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11743. Springer, Cham. https://doi.org/10.1007/978-3-030-27538-9_9

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  • DOI: https://doi.org/10.1007/978-3-030-27538-9_9

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-27537-2

  • Online ISBN: 978-3-030-27538-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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