Research on formation control for hybrid multi-robot based on leader-follower

Abstract

For the problem of formation control of multiple robot system, a kind of formation control for hybrid Multi-robot based on Leader-Follower is proposed in this paper. The main leader searches an optimal path fast by using GPSO-PF algorithm, which is starting point to the target point, at the same time, using KLSPI algorithm avoids obstacle independently; The movement of the second leader in accordance with the key points, which are planned by the main leader, and combined with their own sensor information and formation width adjust formation shape, which make the followers and its matched the second leader keep expected distance and angle relation, then control formation shape. Simulation results are given to demonstrate the effectiveness of the proposed formation control method. © 2013 Springer-Verlag.