This　paper　proposes　two　rigid　formation　task　planning　schemes　for　multi-agent　systems　to　address　the　problem　of　maintaining　rigid　formation　task　planning　under　the　condition　of　only　obtaining　local　distance　and　relative　angle　information　of　multi-agent　systems.　Firstly,　a　rigid　formation　planning　scheme　based　on　distance　and　relative　angle　is　proposed　to　ensure　the　rigid　formation　of　intelligent　agents　in　unknown　relative　positions.　Secondly,　the　task　planning　method　of　null　space　projection　is　used　to　solve　the　conflict　between　formation　tasks　and　obstacle　avoidance　tasks,　ensuring　the　stability　of　formation　during　the　movement　process.　An　overall　rigid　formation　planning　scheme　is　proposed　that　combines　distance　and　relative　angle　again,　and　the　multi-agent　system　is　considered　as　a　whole　for　obstacle　avoidance　during　the　obstacle　avoidance　process,　ensuring　stable　rigid　formation　and　the　completion　of　obstacle　avoidance　tasks.　After　simulation　verification,　the　two　methods　proposed　in　this　paper　can　maintain　a　rigid　formation　and　complete　obstacle　avoidance　tasks　well　under　the　condition　of　weakening　relative　position　information.　Compared　with　the　null　space　behavior　control　method　that　relies　on　relative　position,　it　weakens　the　dependence　on　relative　position　information.　©　2024　Editorial　Office　of　Aero　Weaponry.　All　rights　reserved.