Formation Control for Second-Order Multi-agent System with Collision Avoidance and Communication Maintenance

Abstract

This paper provides a strategy for formation control of second-order multi-agent systems. On the basis of using graph theory to describe the topology of measurement information and communication information between multi-agents, the distributed coordinated movement formation control strategy based on graph Laplacian is studied, and obstacles that may be encountered in complex application scenarios, or there may be collisions between the main bodies, or unpredictable situations such as the disconnection of the link between the main bodies due to the limited detection radius of the sensor, respectively. The formation control method with collision avoidance and communication maintenance is proposed in this paper. The simulation result proves the effectiveness of the method.KeywordsSecond-order multi-agent systemCollision avoidanceCommunication maintenance