A communication-based multirobot rigid formation control system: design and analysis

摘要

In this study, a system with cooperative formation control of group of mobile robots is presented to provide a framework to build up complex systems through communication channels. An improved closed-up multirobot rigid formation control algorithm is developed to efficiently implement the systems without markers and other environment constraints under certain complex situations. Furthermore, a fault-tolerance mechanism for multirobot formation is firstly introduced, based on hierarchy graph of formation theory. This study covers the design and analysis for the overall communication-based system. The results have been obtained via a series of virtual robot simulations and experiments by using three mobile robots, which have well demonstrated the efficiency of the proposed procedure.