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Fuzzy Formation Control and Collision Avoidance for Multiagent Systems
Joint Authors
Chang, Yeong-Hwa
Chen, Chun-Lin
Chan, Wei-Shou
Lin, Hung-Wei
Chang, Chia-Wen
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-18, 18 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-03-07
Country of Publication
Egypt
No. of Pages
18
Main Subjects
Abstract EN
This paper aims to investigate the formation control of leader-follower multiagent systems, where the problem of collision avoidance is considered.
Based on the graph-theoretic concepts and locally distributed information, a neural fuzzy formation controller is designed with the capability of online learning.
The learning rules of controller parameters can be derived from the gradient descent method.
To avoid collisions between neighboring agents, a fuzzy separation controller is proposed such that the local minimum problem can be solved.
In order to highlight the advantages of this fuzzy logic based collision-free formation control, both of the static and dynamic leaders are discussed for performance comparisons.
Simulation results indicate that the proposed fuzzy formation and separation control can provide better formation responses compared to conventional consensus formation and potential-based collision-avoidance algorithms.
American Psychological Association (APA)
Chang, Yeong-Hwa& Chen, Chun-Lin& Chan, Wei-Shou& Lin, Hung-Wei& Chang, Chia-Wen. 2013. Fuzzy Formation Control and Collision Avoidance for Multiagent Systems. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-18.
https://search.emarefa.net/detail/BIM-1011120
Modern Language Association (MLA)
Chang, Yeong-Hwa…[et al.]. Fuzzy Formation Control and Collision Avoidance for Multiagent Systems. Mathematical Problems in Engineering No. 2013 (2013), pp.1-18.
https://search.emarefa.net/detail/BIM-1011120
American Medical Association (AMA)
Chang, Yeong-Hwa& Chen, Chun-Lin& Chan, Wei-Shou& Lin, Hung-Wei& Chang, Chia-Wen. Fuzzy Formation Control and Collision Avoidance for Multiagent Systems. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-18.
https://search.emarefa.net/detail/BIM-1011120
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1011120