CAJ | 학술논문

利用Multi—agent理论研究一类位置一速度模型的护卫队形控制问题。研究的问题中同时考虑队形实现和过程避碰两个因素，基于势函数方法给出了控制器设计．在设计的控制器作用下，编队中的护卫者能按指定队形护卫被护卫者，并保证在运动过程中编队成员间不发生碰撞。
이용Multi—agent이론연구일류위치일속도모형적호위대형공제문제。연구적문제중동시고필대형실현화과정피팽량개인소，기우세함수방법급출료공제기설계．재설계적공제기작용하，편대중적호위자능안지정대형호위피호위자，병보증재운동과정중편대성원간불발생팽당。
In this paper, a safeguarded formation control algorithm was proposed for a position-velocity safeguarded formation control system using multi-agent theory. In the study, based on artificial potential method, a distributed safeguarded formation control algorithm was presented. It was guaranteed that the system asymptotically converged to the pre-specified safeguarded formation on the effect of the control. And it could be proved that during achieving the objective, collisions among the members in the formation were avoided.