Abstract: A formation control method for moving obstacles is proposed.Based on the double integrator model,a control strategy is designed by using potential function which is proposed from the perspective of electric potential.Position potential function adjusted with velocity information is adopted between agents and obstacles,while position potential function is used between agents.State feedback method is applied to control the agents moving toward the goals.This strategy makes the whole potential field simpler and helps avoiding some local minima.Stability of this control method is proven.Some simulations are presented to show the effectiveness of the proposed strategy.