Dynamic Circular Formation Of Multi-Agent Systems With Obstacle Avoidance And Size Scaling:A Flocking Approach

Abstract

Formation control with the flocking approach is an exciting method that can reach the formation without determining the agent's position. This paper focuses on circle formation around the leader or target with geometric properties for the second-order-agent system. This means that the polygon formation is formed with any initial conditions. To create the circular formation, two potential function terms have been used between agent-agent and agent-leader. In our approach, if some fault occurs during the circular formation and some agents fail, the regular polygon formation will still form with fewer agents. Obstacle avoidance for a single-circle formation and collision-free motion is guaranteed. A circular formation with size scaling is proposed to better pass through obstacles. Also, several circles with the desired radius can be reached with changes in the agent-leader potential function. In this work, optimization algorithms with different scenarios compare to obtain the parameters of our algorithm