Control of Multi-Agent Systems Based on Redundant Manipulator Global Optimization Techniques

In this paper, a new approach for path generation and control of multi-agent systems is proposed. This method is based on global optimization techniques used for solving the inverse kinematic problem of redundant manipulators. Convergence of any performance function such as obstacle avoidance, collision avoidance, and heading angle to its global optimum is guaranteed by introducing a control law which is based on the Pontryagin´s maximum principle. The efficacy of the proposed algorithm is demonstrated through simulation experiments.