Potential-based obstacle avoidance in formation control

Based on the double integrator mathematic model,a new kind of potential function is presented in this paper by referring to the concepts of the electric field; then a new formation control method is proposed,in which the potential functions are used between agent-agent and between agent-obstacle,while state feedback control is applied for the agent and its goal. This strategy makes the whole potential field simpler and helps avoid some local minima. The stability of this combination of potential functions and state feedback control is proven. Some simulations are presented to show the rationality of this control method.