Distributed flocking control and obstacle avoidance for multi-agent systems

This paper deals with the distributed flocking control problem of multiple agents with the leader-follower structure. By using smooth time-varying feedback control approach and consensus theory, a set of distributed formation control laws is designed, which can achieve stable flocking motion of a system of multiple agents. Moreover, the potential functions with the function of both obstacle avoidance and collisions between the agents are also constructed. Finally, all the followers could arrive at the destination by following the leader while successfully negotiate the obstacles in the environment. Finally, simulation results verify the validity of the proposed control laws.