Formation Control Based on the Method of Artificial Potential and the Leader-follower for Multiple Mobile Robots

Abstract

A method of formation control based on the artificial potential and the Leader-follower for multiple mobile robots is proposed.It overcomes the disadvantages of traditional method that differential equation is difficult to control formation and avoid obstacles at the same time.First,it determines the potential function to control the parameters and to maintain scheduled formation.Second,the follower robots avoid obstacles initiatively.At last,determines total artificial potential field to control formation and avoid obstacles at the same time.The simulation verifies that the robots system can go through the narrow channel,avoid static and dynamic obstacles,and then resume the formation,and finally reach the goal.The simulation results verify the effectiveness of this method.