Decentralized formation control using artificial potentials and virtual leaders

Abstract

Abstract In this work, decentralized formation control of a multi vehicle system is investigated. Each vehicle is modeled as a point mass agent moving in 2D space. A virtual leader is used for navigation. Each vehicle produces its own control signal via communication with other vehicles and interactions with virtual leader and the obstacles around. These interactions and communications are modeled with artificial potentials and formation shape is given as global minimums of artificial potentials between vehicles. The proposed system can succesfully form any shape and navigate even in the presence of unknown obstacles. Simulations of flocking and formation navigation are also implemented succesfully.