Multi-robot formation based on leader-follower mode

Abstract

In this paper,two systems of the leader and the corresponding follower,which are based on dynamic model and kinematic model,are connected by creating a virtual robot.The leader robot reaches the desired trajectory by updating its information continuously,while the follower adjusts its position and orientation to maintain the relative position and orientation successfully by getting access to information of the virtual robot.It is proved that the formation strategy is reasonable and steady by the simulation experiment of matlab.