Flocking of multi-agents with conic obstacle avoidance

Flocking of multi-agents with obstacle avoidance is a significant problem in the research of flocking. Olfati-Saber proposed a flocking algorithm with obstacle avoidance in [13]. In this paper we extend Olfati-Saber algorithm to 3D flocking with conic obstacle avoidance. The α-agents are guided by β-agents which are determined by the shortest route on the cone. We also present the dissipative analysis of flocking with obstacle avoidance. Finally, simulation results are provided to demonstrate the effectiveness of our proposed methods.