Finite-time Motion Planning of Multi-agent Systems with Collision Avoidance
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 fin...
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| Veröffentlicht in: | arXiv.org 2022-08 |
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| creator | Jiang, Yilei Han, Dongkun |
| description | 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. |
| doi_str_mv | 10.48550/arxiv.2208.02020 |
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| subjects | Collision avoidance Computer Science - Multiagent Systems Controllers Motion planning Motion stability Multiagent systems |
| title | Finite-time Motion Planning of Multi-agent Systems with Collision Avoidance |
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