Consensus of multi-agent systems with double-integrator dynamics in the presence of moving obstacles

Abstract

This paper presents a decentralized consensus control scheme for a group of agents in the presence of moving obstacles. A new control approach is proposed for pop-up dynamic obstacle avoidance for mobile robots while achieving consensus. The algorithm employs formation control to keep a pre-defined distance between agent and obstacle. Using Lyapunov stability analysis, asymptotic convergence of agents is proved outside the obstacle detection region and obstacle avoidance controller guarantees the whole system to be stable inside the obstacle detection region. The efficiency of the proposed control algorithm is verified by simulation results.