Mobile multi-robots formation control and its implementation

摘要

This paper chiefly studies the problem of formation keep and Anti-Collision control of mobile multi-robots in an unknown environment. Algorithm combining global and local situation is used in path planning. Based on a global system path planning, each robot plans and performs its movement dynamically by adapting some distributive work mechanic according to the movement characteristics, thus when encounter some obstacles, the formation can be dissolved and then restore as soon as possible, and at the precondition of not to affect the team progress, destruction to the formation is reduced as much as possible, and thus multiple robot group can move safely and without collision.