论文标题
避免碰撞的多代理系统的有限时间运动计划
Finite-time Motion Planning of Multi-agent Systems with Collision Avoidance
论文作者
论文摘要
避免碰撞的有限时间运动计划在多代理系统中是一个具有挑战性的问题。本文提出了一个基于新的Lyapunov屏障功能的新型分布式控制器，该控制器可以保证在没有碰撞的情况下为多代理系统的有限时间稳定性。首先，制定了多代理系统的有限时间运动计划的问题。然后，基于Lyapunov屏障函数开发了一种新颖的有限时间分布式控制器。最后，数值模拟证明了提出的方法的有效性。
Finite-time motion planning with collision avoidance is a challenging issue in multi-agent systems. This paper proposes a novel distributed controller based on a new Lyapunov barrier function which guarantees finite-time stability for multi-agent systems without collisions. First, the problem of finite-time motion planning of multi-agent systems is formulated. Then, a novel finite-time distributed controller is developed based on a Lyapunov barrier function. Finally, numerical simulations demonstrate the effectiveness of proposed method.
