1. Proceedings
  2. I3M
  3. 2019
  4. IMAACA
  5. 10.46354/i3m.2019.imaaca.016

Comparison of trajectory tracking and obstacle avoidance strategies for a multi-agent dynamic system

  • a Martín Crespo  , 
  • b Matías Nacusse  , 
  • c Sergio Junco 
  • a,b,cLaboratorio de Automatización y Control (LAC), Departamento de Control, FCEIA, UNR. Rosario, Argentina
  • a,bCONICET: Consejo Nacional de Investigaciones Científicas y Técnicas. Argentina
Cite as
Crespo M., Nacusse M., Junco S. (2019). Comparison of trajectory tracking and obstacle avoidance strategies for a multi-agent dynamic system. Proceedings of the 12th International Conference on Integrated Modeling and Analysis in Applied Control and Automation (IMAACA 2019), pp. 124-133. DOI: https://doi.org/10.46354/i3m.2019.imaaca.016

Abstract

This paper designs different laws for formation control and obstacle avoidance for a group of robots with holonomic dynamics and presents a set of simulations that validate and compare them. The Bond Graph methodology, used to design the control laws, together with the physical interpretation of both the obstacles and the interaction between the robots, allows addressing the problem with an energy-based approach. A multi agent scheme is proposed where a leader drives a formation of agents through a desired path. The formation is organized in different hierarchy levels and the control laws for the robots arise from considering the interaction among them through virtual dampers and springs. Two different techniques are addressed for collision avoidance and three scenarios are presented to test the different techniques for coordinated tracking and obstacle collision avoidance. Simulation results are presented to show the good performance of the control system.

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