Simulation on Behavior-based Formation Control of Multi-robot

Abstract

The behavior-based formation control system was chosen to be the main research direction.Five sub-behaviors called move-to-goal,avoid-obstacles,swirl-obstacle,keep-formation and random-noise were designed for the formation control mission.The step control zone method was introduced,which provides high tolerance to positional uncertainty.Using Teambots simulation system,line formation control was simulated.Aiming at the line-formation,single virtual referenced point method and double virtual referenced point method were used,and double virtual referenced point method performs better.Simulation experiments indicate the feasibility and validity of the control strategy.