Abstract
In this paper, we investigate distributed optimal control of a multi-agent consensus problem in an obstacle-laden environment. A new optimal control protocol is proposed which can let the multi-agent system reach consensus as well as avoid obstacles with a reasonable control effort. The penalty function designed to achieve obstacle avoidance capability is constructed from an inverse optimal control perspective. The asymptotic stability and optimality of the consensus algorithm are proven. In addition, the control law of each agent only requires local information from the neighbors. Finally, simulations are presented to illustrate the effectiveness of the proposed methods.
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