Formation and obstacle avoidance control for multiagent systems-中国期刊网

摘要 Thispaperconsiderstheproblemsofformationandobstacleavoidanceformultiagentsystems.Theobjectiveistodesignatermofagentsthatcanreachadesiredformationwhileavoidingcollisionwithobstacles.Toreducetheamountofinformationinteractionbetweenagentsandtarget,weadopttheleader-followerformationstrategy.Byusingtherecedinghorizoncontrol(RHC),anoptimalproblemisformulatedintermsofcostminimizationunderconstraints.Informationonobstaclesisincorporatedonlineasse...

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Formation and obstacle avoidance control for multiagent systems

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Formation and obstacle avoidance control for multiagent systems

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