A formation control approach with autonomous navigation of multi-robot system in unknown environment

摘要

In this paper, a formation control approach with autonomous navigation of multi-robot system is proposed, which can be adopted for the distributed exploration in unknown environment. This proposed method is the combination of the leader-follower formation control, the Bug2 algorithm and the VFH algorithm, which ensures the multi-robot system can find a free path (if it exists) from start to end in unknown environment. The proposed method has a great potential value in practical application. The effectiveness of the proposed method has been verified through the simulation in the paper.