Research on Formation Control for Hybrid Multi-robot Based on Leader-Follower

摘要

This paper did research on the control of formation for multirobot system under complex and unknown environment.This paper improved on the formation keeping method of leader-follower in common use.Leader robot could inspect the following position of each follower by designing control method of formation conditional feedback.In the strategy of leader,we adopted method of dynamic replacing leader to designate leader newly.Finally,we did simulation on formation control.Simulation results showed presented method could finish the task of formation control for multi-robot system well.