Agent-based multiple mobile robots Flocking formation control system

Abstract

Flock is the common phenomenon in nature.Flocking formation control is the new decentralized control method simulating natural animals assembling motion.A leader-follower flocking formation control mechanism is introduced based on existing theory on flocking of mobile agents.Besides,the novel concept,called virtual force,is presented.Control law transformation from agents to mobile robots is designed by employing some mechanics principle. Furthermore,a practical multiple mobile robots flocking control system is implemented.Field demonstrations involving a team of mobile robots are presented.The experimental results demonstrate the efficacy of the proposed procedure.