针对二维平面内多个匿名智能体，研究了多智能体系统的编队避障控制问题。目标是使得在平面内随机分布的匿名智能体在规定时间内完成避障渐进收敛到达目标圆上，然后根据编队控制律在圆上完成指定队形。基于人工势场法实现规避障碍物的功能，通过增加随机扰动解决了智能体处于局部最小值区域无法移动的问题。引入李雅普诺夫函数并通过定理证明了所设计控制律的稳定性。最后，通过模拟仿真证明了避障功能的有效性以及控制律的准确性。

The formation obstacle avoidance control problem of multi-agent systems was studied for multiple anonymous agents in the two-dimensional plane. The goal is to make the anonymous agents randomly distributed in the plane complete the obstacle avoidance progressive convergence to the target circle within the specified time, and then complete the specified formation on the circle according to the formation control law. Based on the artificial potential field method, the function of avoiding obstacles was realized, and the problem that the agent cannot move in the local minimum area was solved by adding random disturbance. The Lyapunov function was introduced and the stability of the control law designed was proved by theorem. Finally, the effectiveness of the obstacle avoidance function and the accuracy of the control law were proved by simulation.