An improved leader-follower formation control algorithm

Gang Wang; Simin Ding

doi:10.1117/12.3046720

27 September 2024 An improved leader-follower formation control algorithm

Gang Wang, Simin Ding

Author Affiliations +

Proceedings Volume 13261, Tenth International Conference on Mechanical Engineering, Materials, and Automation Technology (MMEAT 2024); 1326145 (2024) https://doi.org/10.1117/12.3046720
Event: 10th International Conference on Mechanical Engineering, Materials, and Automation Technology (MMEAT 2024), 2024, Wuhan, China

Abstract

In response to the problem that the leader's dominant role in the leader follower formation control algorithm can easily lead to the failure of formation system control, in this paper, the artificial potential field method is used to improve the virtual leader formation algorithm to solve the formation problem. The concept of virtual navigators is used for formation control, while the artificial potential field method is used for obstacle avoidance tasks. The combination of the two effectively solves the problem of traditional formation control being prone to failure. Through comparative simulation, it is found that under the use of the improved algorithm in this paper, the formation motion trajectory is more stable, and the time for the relative position error of formation members to stabilize is shortened by 15 seconds, indicating that the formation control under the algorithm in this paper is more stable and efficient.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Gang Wang and Simin Ding "An improved leader-follower formation control algorithm", Proc. SPIE 13261, Tenth International Conference on Mechanical Engineering, Materials, and Automation Technology (MMEAT 2024), 1326145 (27 September 2024); https://doi.org/10.1117/12.3046720

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

;

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE