A METHOD OF MULTI-ROBOT FORMATION WITH THE LEAST TOTAL COST

摘要

Abstract. A method of formation used in the “pursuit-evasion ” game is pre-sented in this paper. It reduces the computational complexity efficiently with the least total cost. This method takes the advantages of adaptation and co-operation in multi-robot, and introduces the roles of real leader and virtual leader. The method can work well with any type of formation, especially with complex ones. It can overcome the problem of unnecessary total cost in the fixed role formation when rotating wholly, and decrease the complexity of role assignment in formation caused by the number of robots. The efficiency of the method is illuminated from the viewpoints of geometry, complexity and simulation.