Consensus-based formation control with dynamic role assignment and obstacle avoidance

In this paper, dynamic role assignment and collision avoidance based on consensus tracking algorithm for multi-agent systems are investigated. First, based on the traditional consensus protocol, dynamic role assignment is introduced to minimize the total cost of the team of agents by solving an optimal problem using Hungarian algorithm. Secondly, considering the existence of local minimum position of traditional potential field function for collision avoidance, modified potential field function is proposed to guarantee the agent avoiding the obstacle. Finally, modified consensus algorithms containing corresponding gradient terms are presented for multi-agents systems. Simulations and experiments are included to show the effectiveness of the proposed algorithms.