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arXiv · 1703.08217

Position and Orientation Based Formation Control of Multiple Rigid Bodies with Collision Avoidance and Connectivity Maintenance

Christos K. Verginis·Alexandros Nikou·Dimos V. Dimarogonas
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Abstract

This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol such that each agent achieves a predefined geometric formation with its initial neighbors, while using local information based on a limited sensing radius. The latter implies that the proposed scheme guarantees that the initially connected agents remain always connected. In addition, by introducing certain distance constraints, we guarantee inter-agent collision avoidance as well as collision avoidance with the obstacles and the boundary of the workspace. The proposed controllers employ a novel class of potential functions and do not require a priori knowledge of the dynamical model, except for gravity-related terms. Finally, simulation results verify the validity of the proposed framework.

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Christos K. Verginis, Alexandros Nikou, Dimos V. Dimarogonas. 2017-03-23. Position and Orientation Based Formation Control of Multiple Rigid Bodies with Collision Avoidance and Connectivity Maintenance. https://arxiv.org/abs/1703.08217

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