Formation control and obstacle avoidance of MAS with constraints of visibility and motion saturation

This paper proposes a multi-agent formation and movement method based on the leader-follower architecture and visual sensor signals. This method uses a depth camera as the source of information perception in the leader's local environment. After image acquisition and image processing, the external environment information and the obstacle position signal are input into the leader's control system. The controller drives the actuator to avoid obstacles and complete the consistency under weak or without communication conditions Firstly, in view of the hardware limitations of the vision sensor itself, this paper analyzes the saturation constraints of field of view, and couples it with the motion constraints of the actual subject. Secondly, for the coupled constraints, a correction system is used in the design of the negative gradient control law based on the stress matrix. Finally, for the designed closed-loop control system, the stability analysis is carried out using the Lyapunov function, and the error in the modified control protocol is converged. Static and dynamic obstacle avoidance processes are represented by simulation in Matlab.