Formation control of multi-agent system based on potential function in complex environment

Abstract

Formation control of mobile multi-agent system is a question with practical significance in the complex dynamics system. In this paper, a multi-agent system moving in free-space and moving with obstacle avoidance is studied. Applying potential function, the multi-agent algorithms are proposed. The first algorithm is an algorithm for multi-agent system moving in free-space. Then we discuss flocking with Obstacle avoidance in multi-agent system, the second algorithm has obstacle avoidance capabilities. We present the control algorithm and make stability analysis. Finally, many computer simulations are used to show the validity of the results.