Empirical evaluation of formation control scheme based on artificial potential fields for a team of nonholonomic mobile robots

Abstract

This study explores the practical implications of extending cooperative control scheme outlined by [1] to non-holonomic robots. The aim is to reach predefined goal points and follow trajectories while maintaining a geometric formation inside a 2D environment. The scheme establishes an artificial potential field emanating from each member robot including a virtual robot to blend goal-reaching and collision avoidance behaviors. Multiple Zumo 32U4 differential drive robots are used to observe the algorithm's behavior in a test area where their positions and orientations are tracked via an overhead vision based motion capture system.