Obstacle avoidance algorithm for a finite-time formation control

In this paper, we propose an obstacle avoidance algorithm for finite-time formation protocols of multi-agent systems, which are required to move in the specific formation and avoid obstacles meanwhile. Firstly we will introduce these finite-time formation protocols, and introduce the finite-time consensus of these protocols and other results which have been published. And then, we will apply these results to keep agents move in formation when agents are avoiding obstacles. We will mainly elucidate the obstacle avoidance algorithm. Furthermore, we expand this algorithm to a more general situation: the whole group of agents gets across obstacles to their destination without a reference trajectory. Finally, we give some simulations to illustrate the effectiveness of these algorithms.