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RRT*-Based Leader-Follower Trajectory Planning and Tracking in Multi-Agent Systems

Agachi, Catalina; Arvin, Farshad; Hu, Junyan

Authors

Catalina Agachi



Abstract

Coordination of multi-agent systems has received significant attention during the past few years owing to its wide real-world applications, such as cooperative exploration, aircraft formation, and autonomous vehicle platooning. To address this issue, this research presents a novel method for multi-agent systems to navigate through environments with obstacles. The system consists of a group of agents with a leader-follower structure, where the leader aids in guiding the agents toward the target location and the followers are steered to maintain a flexible formation. To achieve cooperation, the agents communicate within a connected and undirected network, exchanging information within a specific radius. The leader's path is generated using the RRT* algorithm, which serves as a reference for the followers. A control law utilizes consensus and APF is then implemented, ensuring coordinated motion while maintaining safe distances among agents and between agents and obstacles. Finally, the effectiveness of the developed two-layer coordination strategy is verified by simulations.

Citation

Agachi, C., Arvin, F., & Hu, J. (2024, August). RRT*-Based Leader-Follower Trajectory Planning and Tracking in Multi-Agent Systems. Presented at 2024 IEEE International Conference on Intelligent Systems (IS), Varna, Bulgaria

Presentation Conference Type Conference Paper (published)
Conference Name 2024 IEEE International Conference on Intelligent Systems (IS)
Start Date Aug 29, 2024
End Date Aug 31, 2024
Acceptance Date Jun 11, 2024
Deposit Date Aug 9, 2024
Peer Reviewed Peer Reviewed
Book Title 2024 IEEE International Conference on Intelligent Systems (IS)
Keywords Path planning; cooperative control; multi-robot systems; swarm robotics
Public URL https://durham-repository.worktribe.com/output/2745359
Publisher URL https://ieeexplore.ieee.org/xpl/conhome/1000395/all-proceedings

This file is under embargo due to copyright reasons.




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