Formation Control based on Flocking Algorithm in Multi-agent System

This paper mainly addresses flocking control algorithm to implement the "boids" model of Reynolds among the formation control by nonholonomic multi-robots. Firstly, distributed flocking of multiple autonomous agents with double integrator dynamics is studied. The proposed flocking algorithm is a gradient-based protocol combined with a velocity consensus protocol. For the gradient-based term, smooth artificial potential functions which could cope with the problem of shape generation are devised for all the agents. Moreover, the proposed coordinated protocols are applied to the formation control of a team of nonholonomic mobile robots. Finally, simulations and experiments show that the proposed controllers ensure the group formation is stabilized to a desired shape, while all the robots' velocities and directions converge to the same.