Formation control for multi-robot system in complex terrain

Abstract

We study the problem of formation control for multi-robot system in a rugged and undulating terrain environment. First, the formation model of the multi-robot system in complex terrain environment is analyzed in detail. Second, the three-dimensional formation model of this system is simplified to a two-dimensional coordinate system via space projection method; and then, the formation system error is analyzed. The controller is constructed by using Lyapunov theory, and the driving strategies are designed for the specific terrains. In this way, the multi-robot formation control in complex terrain environment is realized. Finally, simulation experiments of three kinds of typical complex terrain conditions and two kinds of nonholonomic mobile robots are given to demonstrate the effectiveness of the proposed method.