A FRAMEWORK OF FORMATION CONTROL APPLYING TO MULTI-ROBOT SYSTEMS

Automatic Control, Robotic

In recent decades, the deployment of multi-robot systems (MRS) has created enormous research interests such as control and communication, task allocation, cooperative coordination, etc. Among these areas, formation control for MRS becomes an active research topic and has received much attention from scientists due to its superior advantages compared with other conventional systems. In this paper, we review formation control strategies and propose a control protocol for the formation of MRS. The formation of MRS moves to the target point by following a leader. The formation shape can be reconfigured to avoid collisions with obstacles by utilizing an artificial potential field method. The simulation is provided to prove the effectiveness of the method.

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