Formation and obstacle avoidance control for multiagent systems

This paper considers the problems of formation and obstacle avoidance for multiagent systems. The objective is to design a term of agents that can reach a desired formation while avoiding collision with obstacles. To reduce the amount of information interaction between agents and target, we adopt the leader-follower formation strategy. By using the receding horizon control (RHC), an optimal problem is formulated in terms of cost minimization under constraints. Information on obstacles is incorporated online as sensed in a limited sensing range. The communication requirements between agents are that the followers should obtain the previous optimal control trajectory of the leader to each update time. The stability is guaranteed by adding a terminal-state penalty to the cost function and a terminal-state region to optimal problem. Finally, simulation studies are provided to verify the effectiveness of the proposed approach.