Flocking of Multi-agent Systems with Leader Following and Obstacle Avoidance

Abstract

In this paper, based on a multi-agent system with leader-following strategy, we study a flocking algorithm for double-integrator dynamics system on dynamic network topology. We design a control algorithm to achieve stable cluster of multi-agent, and introduce smooth potential function. Through the potential field energy between each agent and obstacles, when there exist obstacles, the control algorithm can also achieve stable flocking. According to the classical Lyapunov stability theory and invariant set theory, the stability of the multi-agent system is proved. The simulation results verify effectiveness of the flocking algorithm.