Flocking of muti-agents with obstacle avoidance based on limit-cycle

The control of flocking motion must be effective to avoid the various obstacles, and maintain the formation to the target point. A decentralized control method is used to control intelligent groups distributed. The topology model of dynamic network of intelligent groups has been combined with artificial potential field.The control algorithm for obstacle avoidance has been improved. Limit-cycle method for flocking motion with obstacle avoidance in global unknown environment is studied. The limitations of the shape of the obstacle have been overcome. And the limit-cycle method makes the swarm avoid obstacles smoothly.