Multi-Agent Cluster Systems Formation Control with Obstacle Avoidance

For formation control and obstacle avoidance of multi-agent cluster systems, this paper proposes a new formation control and obstacle avoidance algorithm based on artificial potential field method, the advantage of which is that it can enhance the robustness of multi-agent systems and make the overall performance as no central control. Formation control adopts the follower-leader method. Leaders are not artificially designated, but selected by autonomous decision-making of multi-agent systems. When the selected leader fails to continue to perform the task, the remaining followers can independently choose a new leader and form a new formation to continue the task according to the number of existing agents. Finally, the effectiveness of the proposed method is verified by a numerical simulation. The simulation results show that the algorithm proposed in this paper can perform no central formation control and obstacle avoidance for multi-agent systems.