Hybrid Formation Control of Multi-Robot

Abstract

A hybrid formation control of multi-robot system,combined with behavior-based method and feedback-based method,is presented.The multi-robot formation control is implement by the dead-zone and dynamic equations.The method overcomes the problems of fluctuation in behavior-based control.It is also proved that the method can meet the wide-angle transformation which can not be achieved by the following leader's method based on feedback control.Experiments based on the AmigoBot robot platform shows it has better results comparing with several different methods.