Formation Control with Obstacle Avoidance for Multi-Agent Systems Using Barrier Functions

This paper focuses on the problem of formation control for multi-agent systems, where a barrier Lyapunov function (BLF) is introduced to meet the requirement of communication maintenance, collision and obstacle avoidance. Then, combining the BLF and consensus theory, the formation control protocols are developed respectively for the leader and followers. The stability of multi-agent systems is analyzed by Lyapunov theory. Finally, simulation results are provided to illustrate the effectiveness of the proposed method.