Formation control and obstacle avoidance for multi-vehicle systems with optimal assignment

Formation control for multi-vehicle systems is derived based on the leader-follower strategy. The model of the vehicle is nonholonomic. According to the leader-follower strategy, how to quickly reach their desired position of the given interaction of communication graph based on optimal assignment is important. After reaching their desired position, maintaining the formation and obstacle avoidance in the process going to the goal are discussed. The artificial potential field method is used in obstacle avoidance and the local minimum and unreachable target problems are investigated. Finally, simulation and experiment results are included to verify the feasibility of the formation and obstacle avoidance control algorithms.