Movement of the multi agent system in potential field
DOI:
https://doi.org/10.34169/2414-0651.2017.2(14).55-61Keywords:
group management, potential ground field, UAV, control lawAbstract
The article deals with the movement of a multi-agent system consisting of a limited number of UAVs. The multi-agent system includes a lead agent and several agents-members of the group. The motion of this system occurs along a trajectory, which is determined by the initial conditions, its mathematical model and obstacles on the route. Only the leader of the group knows the ultimate goal of the movement. The motion of this structure is considered in the potential fi eld, which is determined by the forces of attraction and repulsion and is created by control signals by measuring the distances to the nearest neighbors. This allows the UAV group to consider an aggregate that has some size and to describe its motion the system of diff erential equations of secondorder. In this paper, the stability conditions of such motion are investigated, and the proposed approach is modeled.
Downloads
References
Kucherov, D. P., Kozub, A. M., Kostyna, O. M. Group Behavior of UAVs in Obstacles Presence // Рroc. IEEE 4th Int. Conf. Methods and Systems of Navigation and Motion Control (MSNMC), Kyiv, Ukraine, 2016. DOI: https://doi.org/10.1109/MSNMC.2016.7783104
Wooldridge, M. An Introduction to multi-agent systems. John Wiley & Sons Ltd, 2009.
Benu, C. Goel, Sheenam. (2015), "Ant Colony Optimization for Wireless Sensor Network: A Review", IOSR-JCE, No. 17(3), pp. 89–92.
Chou, W.Y.J., Marsh, L., Gossink, D. Multi-Agent Coordination and Optimisation in the RoboCup Rescue Project // Рroc. 18th World IMACS / MODSIM Congress, Cairns, Australia, 2009.
Bandala, A. A., Dadios, E. P., Vicerra, R. R. P., Lim, L. A. G. (2014), "Swarming Algorithm for Unmanned Aerial Vehicle (UAV) Quadrotors – Swarm Behavior for Aggregation, Foraging, Formation, and Tracking", J. of Advanced Comput. Intell. and Intell. Inform., No. 18(5), pp. 745-751. DOI: https://doi.org/10.20965/jaciii.2014.p0745
Yin, L., Yin, Y., Lin, C. (2009), "A new potential field method for mobile robot path planning in the dynamic environments", Asian Journal of Control. No. 11(2), pp. 214-225. DOI: https://doi.org/10.1002/asjc.98
Dang, A. D., Horn, J. (2014) "Intelligent Swarm-Finding in Formation Control of Multi-Robots to Track a Moving Target", Int. J. of Computer, Electr., Autom., Control and Inf. Eng, No. 8(4), pp. 561-567.
Gazi V., Fidan B., Hanay Y. S., Köksal M. I. (2007), "Aggregation, Foraging, and Formation Control of Swarms with Non-Holonomic Agents Using Potential Functions and Sliding Mode Techniques", Turk. J. of Electr. Eng. No. 15(2), pp. 149–168.
Zhang L., Gui H. (2016), "Optimal Strategies for Agents in an Alternating Offers Negotiation Protocol Considering Time Constraint", J. of Autom. and Control Eng, No. 4(4), pp. 313–318. DOI: https://doi.org/10.18178/joace.4.4.313-318
Jesintha, D. K., Anandh, J. P., Ramnath, M. (2015), "Dynamic analysis of agent network in self organization using service level agreement technique", Int. J. of Eng. Sci. Invent, No. 4(3), pp. 44–49.
Marsh, L., Calbert, G., Tu J., Gossink, D., Kwok H. Multi-Agent UAV Path Planning // Int. Congress on Modelling and Simulation, MODSIM05. Modelling and Simulation Society of Australia and New Zealand, 2005.
Shanmugavel, M., Tsourdos, A., White, B. A., Zbikowski, R. (2007), "Differential Geometric Path Planning of Multiple UAVs", Trans. of ASME J. of Dyn. Syst., Meas., and Control, No. 129(3), pp. 620–632. DOI: https://doi.org/10.1115/1.2767657
Kucherov, D. P. (2014), "Agent-based approach to the problem movements by the route", Visnyk of the Volodymyr Dahl East Urk. National University, No. 4(211), pp. 168–171.
Çuhadar, İ., Dursun, M. (2016), "Unmanned Air Vehicle System’s Data Links", J. of Autom. and Control Eng, No. 4(3), pp. 189–193. DOI: https://doi.org/10.18178/joace.4.3.189-193
Kucherov, D. P., Kozub, A. M. (2015), "Control System Objects with Multiple Stream of Information", proc. IEEE 3rd Int. Conf. Actual Problems of UAV Developments (APUAVD), Kyiv, Ukraine DOI: https://doi.org/10.1109/APUAVD.2015.7346623
Wang, Y., Hu, C. Moving as a whole: multirobot traveling problem constrained by connectivity // Turk. J. of Electr. Eng. & Comput. Sci., No. 23, pp. 769–788. 2015. DOI: https://doi.org/10.3906/elk-1302-136
Dang, A. D., Horn, J. (2015), "Formation Control of Leader-Following UAVs to Track a Moving Target in a Dynamic Environment", J. of Autom. and Control Eng, No. 3(1), pp. 1–8. DOI: https://doi.org/10.12720/joace.3.1.1-8
Ansary, A. A., Hasan, M. M. (2016), "An Intelligent Line Following Robot with Obstacle Detection", Int. J. of Sci. and Eng. Investig, No. 5(53), pp. 44–48.
Jain, M. C. Textbook of Engineering Physics (Part I) : PHI Learning Private Ltd, 2009.
Korn, G. A., Korn, T. M. Mathematical handbook for sceintist and engineers : McGraw-Hill Company, 1968.
Bouabdallah, S., Siegwart, R. Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor, proc. IEEE Int. Conf. on Robot. and Autom., Barcelona, Spain, 2005.
