Distributed formation control of multi robot system with obstacle avoidance
Formation control is one of the emerging research topics in the study of multi robot coordination. In this research, we designed distributed formation control with obstacle avoidance. Our formation control law uses consensus algorithm with displacement based strategy. It consists of three layers of control. The first layer is formation center estimator using consensus algorithm. The second layer is a regulated hybrid system between position tracking and obstacle avoidance. The third layer is transformation to control signals for nonholonomic robots. We verify the controller by simulation on MATLAB.
2013 International Conference on Robotics, Biomimetics, Intelligent Computational Systems