Multiple robot formation control strategy in corridor environments

摘要

According to analysis of motion error based on virtual target tracking in mobile robot, we proposed a simple and effective method for formation control of multiple mobile robots in corridor or like corridor environments. Taking the posture deviation to design control law, we can make the formation control problem of multiple mobile robots be converted into a series of simple and effective motion control strategy for each mobile robot. A unified algorithm framework was given, and then the motion strategies for each robot were designed. The simulation and experiment have demonstrated the feasibility and validity of the proposed method.