Design of Swarm Robots Formation Control System Based on Vision Guidance

摘要

In order to implement swarm robots accurate and efficient formation control, a formation control algorithm for swarm robots is designed in this paper. Hungarian algorithm is used to complete the assignment task to get the overall minimum path in the process of formation. A consensus algorithm is also designed to complete the arbitrary shape formation control. In addition, the positioning system for swarm robots is set up, in which the position information of robots can be obtained through the visual positioning technology. Then the swarm robots formation experiments are carried out and the reliability of the formation control algorithm is verified.