Obstacle Boundary Point and Expected Velocity-Based Flocking of Multiagents with Obstacle Avoidance

Obstacle avoidance is a key technology of multiagents flocking control. However, most existing research studies assume that the agent can obtain global information about obstacles and have specific constraints on shape boundary obstacles, which easily limit their practical applications. To relax these constraints, we only perceive position obstacle points within its sensing radius propose an point expected velocity-based algorithm with avoidance. In this algorithm, attraction/repulsion potential designed to avoid collisions between agents points, velocity tow move along virtual leader lead all realize group objective. Finally, sufficient conditions does not collide are demonstrated, performance proposed further verified through simulations.