Consensus control of mobile agents with obstacle avoidance using collision cone approach

Sirin Akkaya; Onur Akbati; Ali Fuat Ergenc

doi:10.1109/CEIT.2018.8751824

Consensus control of mobile agents with obstacle avoidance using collision cone approach

Sirin Akkaya
, Onur Akbati
, Ali Fuat Ergenc

Istanbul Technical University
Yildiz Technical University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Citations (Scopus)

Abstract

In this study, a cooperative control problem with obstacle avoidance for a team mobile agent system is investigated. The agents are modelled with double integrator dynamics considering the center coordinates in 2D space. The underlying topology of the focused system is captured by an undirected graph. Firstly, basic consensus controller structures are explained. Then obstacle avoidance problem which is based on collision cone approach is examined. Finally, both controller algorithms are combined and simulated with using second-order agent model. Simulation studies have been conducted with MATLAB program. The obstacle is selected a circle stationary object. The results show that the agents use the collision avoidance algorithm to prevent obstacle and consensus algorithm to reach consensus point after passing the obstacle.

Original language	English
Title of host publication	2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018
Editors	Seref Naci Engin, Dogan Onur Arisoy, Muhammed Ali Oz
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781538676417
DOIs	https://doi.org/10.1109/CEIT.2018.8751824
Publication status	Published - Oct 2018
Externally published	Yes
Event	6th International Conference on Control Engineering and Information Technology, CEIT 2018 - Istanbul, Turkey Duration: 25 Oct 2018 → 27 Oct 2018

Publication series

Name	2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018

Conference

Conference	6th International Conference on Control Engineering and Information Technology, CEIT 2018
Country/Territory	Turkey
City	Istanbul
Period	25/10/18 → 27/10/18

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Keywords

Collision cone approach
Consensus
Cooperative control
Multi agent
Obstacle avoidance

Access to Document

10.1109/CEIT.2018.8751824

Cite this

Akkaya, S., Akbati, O., & Ergenc, A. F. (2018). Consensus control of mobile agents with obstacle avoidance using collision cone approach. In S. N. Engin, D. O. Arisoy, & M. A. Oz (Eds.), 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018 Article 8751824 (2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CEIT.2018.8751824

Akkaya, Sirin ; Akbati, Onur ; Ergenc, Ali Fuat. / Consensus control of mobile agents with obstacle avoidance using collision cone approach. 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018. editor / Seref Naci Engin ; Dogan Onur Arisoy ; Muhammed Ali Oz. Institute of Electrical and Electronics Engineers Inc., 2018. (2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018).

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title = "Consensus control of mobile agents with obstacle avoidance using collision cone approach",

abstract = "In this study, a cooperative control problem with obstacle avoidance for a team mobile agent system is investigated. The agents are modelled with double integrator dynamics considering the center coordinates in 2D space. The underlying topology of the focused system is captured by an undirected graph. Firstly, basic consensus controller structures are explained. Then obstacle avoidance problem which is based on collision cone approach is examined. Finally, both controller algorithms are combined and simulated with using second-order agent model. Simulation studies have been conducted with MATLAB program. The obstacle is selected a circle stationary object. The results show that the agents use the collision avoidance algorithm to prevent obstacle and consensus algorithm to reach consensus point after passing the obstacle.",

keywords = "Collision cone approach, Consensus, Cooperative control, Multi agent, Obstacle avoidance",

author = "Sirin Akkaya and Onur Akbati and Ergenc, \{Ali Fuat\}",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 6th International Conference on Control Engineering and Information Technology, CEIT 2018 ; Conference date: 25-10-2018 Through 27-10-2018",

year = "2018",

month = oct,

doi = "10.1109/CEIT.2018.8751824",

language = "English",

series = "2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

editor = "Engin, \{Seref Naci\} and Arisoy, \{Dogan Onur\} and Oz, \{Muhammed Ali\}",

booktitle = "2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018",

address = "United States",

}

Akkaya, S, Akbati, O & Ergenc, AF 2018, Consensus control of mobile agents with obstacle avoidance using collision cone approach. in SN Engin, DO Arisoy & MA Oz (eds), 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018., 8751824, 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018, Institute of Electrical and Electronics Engineers Inc., 6th International Conference on Control Engineering and Information Technology, CEIT 2018, Istanbul, Turkey, 25/10/18. https://doi.org/10.1109/CEIT.2018.8751824

Consensus control of mobile agents with obstacle avoidance using collision cone approach. / Akkaya, Sirin; Akbati, Onur; Ergenc, Ali Fuat.
2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018. ed. / Seref Naci Engin; Dogan Onur Arisoy; Muhammed Ali Oz. Institute of Electrical and Electronics Engineers Inc., 2018. 8751824 (2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Consensus control of mobile agents with obstacle avoidance using collision cone approach

AU - Akkaya, Sirin

AU - Akbati, Onur

AU - Ergenc, Ali Fuat

PY - 2018/10

Y1 - 2018/10

N2 - In this study, a cooperative control problem with obstacle avoidance for a team mobile agent system is investigated. The agents are modelled with double integrator dynamics considering the center coordinates in 2D space. The underlying topology of the focused system is captured by an undirected graph. Firstly, basic consensus controller structures are explained. Then obstacle avoidance problem which is based on collision cone approach is examined. Finally, both controller algorithms are combined and simulated with using second-order agent model. Simulation studies have been conducted with MATLAB program. The obstacle is selected a circle stationary object. The results show that the agents use the collision avoidance algorithm to prevent obstacle and consensus algorithm to reach consensus point after passing the obstacle.

AB - In this study, a cooperative control problem with obstacle avoidance for a team mobile agent system is investigated. The agents are modelled with double integrator dynamics considering the center coordinates in 2D space. The underlying topology of the focused system is captured by an undirected graph. Firstly, basic consensus controller structures are explained. Then obstacle avoidance problem which is based on collision cone approach is examined. Finally, both controller algorithms are combined and simulated with using second-order agent model. Simulation studies have been conducted with MATLAB program. The obstacle is selected a circle stationary object. The results show that the agents use the collision avoidance algorithm to prevent obstacle and consensus algorithm to reach consensus point after passing the obstacle.

KW - Collision cone approach

KW - Consensus

KW - Cooperative control

KW - Multi agent

KW - Obstacle avoidance

UR - https://www.scopus.com/pages/publications/85069216749

U2 - 10.1109/CEIT.2018.8751824

DO - 10.1109/CEIT.2018.8751824

M3 - Conference contribution

AN - SCOPUS:85069216749

T3 - 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018

BT - 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018

A2 - Engin, Seref Naci

A2 - Arisoy, Dogan Onur

A2 - Oz, Muhammed Ali

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 6th International Conference on Control Engineering and Information Technology, CEIT 2018

Y2 - 25 October 2018 through 27 October 2018

ER -

Akkaya S, Akbati O, Ergenc AF. Consensus control of mobile agents with obstacle avoidance using collision cone approach. In Engin SN, Arisoy DO, Oz MA, editors, 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018. Institute of Electrical and Electronics Engineers Inc. 2018. 8751824. (2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018). doi: 10.1109/CEIT.2018.8751824

Consensus control of mobile agents with obstacle avoidance using collision cone approach

Abstract

Publication series

Conference

Bibliographical note

UN SDGs

Keywords

Access to Document

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