Consensus and Obstacle Avoidance of Partially-informed Multi-agent System
Jiaojie Li, Wei Zhang, Yupu Yang · Advances in engineering research/Advances in Engineering Research · 2015
In this paper, we study the collective obstacle avoidance problem when only part of agents is informed of obstacle information.The control protocol is proposed to lead second order agents trend to state consensus in the existence of smooth convex obstacles.Both the position and velocity of agents will trend to the same.The moving obstacles which have varying acceleration can also be avoid, even without acceleration sensor.We prove the convergence and collision avoidance of multi-agent system.A simulation demonstrates the effect of the proposed control protocol.