Gradient-based collision avoidance algorithm for second-order multi-agent formation control
Qinghai Gong, Chunyan Wang, Zhenqiang Qi, Zhengtao Ding · 2017
This paper investigates the collision avoidance problem in formation control. First, a collision avoidance algorithm is proposed by using the gradient-based method. Then, a collision-free consensus based formation protocol is developed for a group of second-order systems with the aid of graph theory. In particular, the formation protocol is designed only based on the relative information obtained via the network connection, without the global information of the agents. Finally, simulation results with different topologies verify the effectiveness of the proposed algorithms.