| Summary: Formation control problems in multi-agent systems have recently been investigated with increasing interest. However, the formation control of multiple agents poses a challenge for researchers due to the difficulties in road planning, ensuring structure flexibility when passing through narrow spaces, and the computational burden of creating the layout at an equal time with different trajectories. There is not much work on providing formation, especially in passages through narrow spaces, and at the same time creating formation in the desired place in disabled environments. To tackle these problems, a new hybrid study with Stackelberg equilibrium at its core has been proposed.
In this thesis study, answers to four different subproblems are sought. First, it is desired to establish a Stackelberg equilibrium in order to provide the formation structure we want to achieve. It creates a route between the starting and target points to ensure balance. However, excessive nodes and hill twisting points that occur in this road planning process are problematic. Excess nodes are discarded by pruning based on linear Bezier curves, while peak bending points are softened using quadratic Bezier curves. The virtual matrix method is used to maintain the formation without collisions by following the trajectories. The flexibility problem that occurs when passing through narrow spaces is overcome by using Bezier curves. However, following different trajectories in obstacle environments and providing formation at the target point at the same time are difficult problems to calculate. To overcome these problems, the bidirectional Lee algorithm, bimatrix games, and Stackelberg equilibrium were used hybrid. The results are verified by simulation.
Key Words: Formation Control, Bezier Curves, Virtual Matrix, Flexible Structure, Bimatrix Games, Stackelberg Equilibrium. |
