Formation vector control of nonholonomic mobile robot groups and its experimental verification

Abstract

This paper presents a control method derived through a modification of the formation vector control previously presented for generating formations of groups of nonholonomic mobile robots with two independently driven wheels. This modified control method is capable of generating formations faster than the formation vector control. Specifically, this paper proposes that the mobile robots try to match their translation velocities with their desired velocities, while avoiding zigzag motions which have previously occurred. This paper experimentally confirms the effectiveness of the modified control method by demonstrating an enclosing behaviour in which the group generates an arc-shaped formation around a target.