Formation Control and Obstacle Avoidance for Multiple Mobile Robots

Abstract

In this paper,the problem of formation control and obstacle avoidance for multiple mobile robots is discussed.First the formation construction is established,and the formulation of formation control for avoiding the obstacles is given.By using potential function,a formation control scheme is proposed for multiple mobile robots with obstacle avoidance.Under the proposed distributed control scheme,the closed-loop stability and safety are guaranteed theoretically.Simulation results demonstrate the effectiveness of the proposed control strategies.