Formation Tracking Control for Multi-Agent Systems with Collision Avoidance and Connectivity Maintenance

This paper investigates the formation tracking control of multiple agents with a double-integrator model and presents a novel distributed control framework composed of three items: a potential-based gradient term, a formation term, and a navigation term. Considering the practical situation, each agent is regarded as a rigid-body with a safe radius and a sensing region. To enable collision avoidance and connectivity maintenance among multiple agents, a new potential function with fewer parameters is established. The predetermined formation is also achieved by taking the difference between the actual displacement and the desired displacement as a consensus variable. Lastly, the virtual navigator provides trajectory signals and guides the multiple agent movement. Two instances of an equilateral triangle formation and a hexagonal formation are used in the simulation to verify the proposed method.