Consensus of multi‐agent system based on novel avoidance function and unequal avoidance strategy
Yakun Zhu, Haoran Li, Hongjun Duan · IET Control Theory and Applications · 2020
In practice, the energy of an agent is limited, therefore, saving energy is an important problem in the practical applications of multi‐agent systems. For this problem, the authors firstly proposes a novel collision avoidance function, which have much less energy cost than the normal potential field function. Secondly, to further reduce energy cost, the authors propose an unequal collision avoidance strategy, that is, according to the residual energy of neighbouring agents, high‐energy agent performs collision avoidance, while the low‐energy agent does not. Thirdly, the controller is designed based on the novel collision avoidance function and the unequal collision avoidance strategy. Besides the consensus and collision avoidance can be achieved, the proposed controller can also effectively extend the operation time/range of the whole system. Finally, the simulations verify the effectiveness and superiority of the proposed controller.