Multi-Variable Flocking Control for Multi-Agent Systems via a Received Signal Strength Indicator

摘要

A novel flocking control approach is proposed for multi-agent systems by integrating the variables of velocities, motion directions, and positions of agents. A received signal strength indicator (RSSI) is applied as a variable to estimate the inter-distance between agents. A key parameter that contains the local information of agents is defined, and a multi-variable controller is proposed based on the parameter. For the position control of agents, the RSSI is introduced to substitute the distance as a control variable in the systems. The advantages of RSSI include that the relative distance between every two agents can be adjusted through the communication quality under different environments, and it can shun the shortage of the limit of sensors. Simulation studies demonstrate the effectiveness of the proposed control approach.