Multi-agent Formation Optimization Obstacle Avoidance Tracking Control Based on Control Barrier Function

In this paper, a multi-agent formation optimization obstacle avoidance method based on barrier function is proposed. Firstly, a distributed formation controller is designed based on consensus, and the leader-follower formation control is realized. Then, the barrier function is used to establish multiple constraints containing safety constraints. Furthermore, combined with the distributed controller and constraints, the optimized controller is obtained by quadratic programming. Finally, the method proposed in this paper can reduce the motion distance of the agent during obstacle avoidance while realizing formation control, and the advantages of the algorithm are verified by numerical simulation.