Research on improved leader-following formation method

摘要

To overcome the shortage of the leader-following algorithm,a multi-robot formation control method based on the trailblazer is proposed.In our technique,a trailblazer adopts the SLAM method to plan the formation and pass through the key positions of the path.Then,according to the key positions and environmental information,the leader adjusts the trajectory and computes the distances and angles with the following,so as to decide the real-time locations and posture of the following.Besides,our technique employs a logical-level based transformation strategy to transform the formation once the formation cannot pass a barrier.We conduct experiments on the player/stage platform,the results show that our proposed leader-following algorithm has better control effect,it can not only further enhance the integrity of the formation,but also guarantee the stability of the formation system.