飞控与探测2025，Vol.8Issue(2)：18-26,9.DOI:10.20249/j.cnki.2096-5974.2025.02.003
复杂环境下多智能体系统的安全编队控制
Safety Formation Control of Multi-Agent Systems in Complex Environment
摘要
Abstract
This paper studies the safety formation control of multi-agent systems in complex envi-ronments containing convex obstacles,non-convex obstacles and narrow gaps.Based on the Finite-time convergence Control Barrier Function(FCBF)and Iterative Regional Inflation by Semi-defi-nite programming(IRIS),a safety formation control law is proposed to ensure the safety of the multi-agent systems while moving towards the target position.In particular,IRIS is used to ab-stract the obstacle-free space into elliptical safety regions,and the centers of the ellipse are set as a navigation point.FCBF is used to ensure that the multi-agent systems safely reach the target posi-tion while passing through the navigation point.FCBF is designed with geometric constraints and elliptical safety regions to achieve safety by ensuring forward invariance.This paper also incorpo-rates the distributed control of multi-agent systems and designs a QP-based controller for each a-gent,that is,solves quadratic programming problems(QP)by using the designed CBFs as con-straints.Finally,the feasibility of the algorithm in complex environments is verified by simula-tion.关键词
多智能体编队/控制障碍函数/分布式控制/二次规划/路径规划Key words
multi-agent formation/control barrier function/distributed control/quadratic pro-grams/path planning分类
计算机与自动化引用本文复制引用
郭许发,梅杰,柴敬轩,龚有敏..复杂环境下多智能体系统的安全编队控制[J].飞控与探测,2025,8(2):18-26,9.基金项目
深圳市基础研究重点项目(JCYJ20241202124010014) （JCYJ20241202124010014）
广东特支计划青年拔尖人才计划(2023TQ07A783) （2023TQ07A783）
