Formation Control for Multi-Robot Teams Using A Data Glove

摘要

The formation control problem is one of fundamental problems in multi-robot applications, such as exploration and mapping. In this paper, we present a distributed formation control algorithm for a group of mobile robots moving in a obstacle filled workspace. The algorithm is based on the concept of a spring force and a potential filed. Our algorithm works under limited sensory information and require no communication between the robot team. We also introduce an intuitive human-multi robot interaction via a data glove. The human operator can control a group formation parameter using only his hand gesture. Preliminary simulation results are presented confirming effectiveness of the presented approach.