Abstract: A multi-agent system flocking model with obstacle avoidance in complex obstacle field is established for the obstacle avoidance of robot flock in the ground battlefield. In this model, the complex obstacle is geometrically described with polygon shape, which reduces the probability of channel narrowing or blocking caused by the least circumscribed circle(ball). Based on the artificial potential method, a mathematical model and the solving flow are presented for the interactions between agents, agent and surrounding obstacles, agent and its target. When solving the model, the rejective edge and rejective area of polygon obstacle are determined from the relationship among the outer center of agent and the geometric properties of polygon obstacle, including inner center, outer center and edge, and the capturing edge of polygon obstacle and the temporary target of agent are determined from the relationship among the outer center of agent, the edge of polygon obstacle and the target, thus overcoming the defect that the agent is usually captured by the edge of polygon obstacle. The simulated results show that the proposed model can be used to control the flocking with obstacle avoidance of multi-agent system whether for static target or dynamic target.

Key words: multi-agentsystem, complexobstaclefield, flockingmotion, obstacleavoidance