A new formation control strategy based on the virtual-leader-follower and artificial potential field

摘要

A new formation control strategy based on the virtual-leader-follower and artificial potential field for the formation of multiple mobile robots is proposed in this paper. A motion control model of a formation containing a plurality of mobile robots is established. A virtual leader is introduced in a system with multiple mobile robots, which acts in the same way as a robot that exists physically. In addition, it has been confirmed by simulation experiments that the virtual leader perfectly eliminates the hidden dangers of the real robot malfunctions and the system out of control, which greatly improves the flexibility and stability of the system.