Formation Control and Obstacle Avoidance for Multi-Robot Systems

Abstract

With the continuous advancement of robotics, multi-robot systems have gradually become a research hotspot and a necessary high ground for scientific and technological development in the world, with great development prospects and research significance. In this paper, the kinematic model and trajectory tracking error model of a six-wheeled robot are constructed, the formation control law is designed by combining the leader-follower algorithm, and the artificial potential field method is introduced to complete the obstacle avoidance function of the multi-robot system. Finally, the multi-robot formation control algorithm and obstacle avoidance algorithm are simulated on MATLAB and Robot Operating System (ROS).