Swarm Multi-agent Trapping Multi-target Control with Obstacle Avoidance

In this paper, we investigate that swarm multi-agent can trap multi-target and avoid obstacles simultaneously through cooperative control. First, the control method proposed in this paper allows the number of multi-agent to trap each target evenly, without all or more than half of the number of agents trapping one of the targets. Second, a uniform number of agents track the target based on information about the target and local interactions with other agents. Introducing a repulsive potential function between the agent and the target can enclose the target. In addition, the control method designed in this paper can trap the target faster. Finally, agents trapping the same target converge their velocity to achieve the capture of the target after forming an enclosing state. In achieving this process, agents can simultaneously avoid obstacles well. The simulation results show the feasibility.