Algorithm of Mobile Robots Formation Based on Iterative Newton Scheme
Shao Guo-wan · Jisuanji fangzhen · 2004
Using the rolling planning strategy, the problem of mobile robots formation in globally unknown environment with distributed obstacles is studied. The algorithm of mobile robots formation based on iterative Newton scheme presented in the paper resolves the formation problem into the process of individual robot autonomous motion toward candidate object. The algorithm makes full use of the real-time local environment information detected by the robots and changes the candidate object on end until the completion of formation. The algorithm has low calculation burden and can react the changes simultaneously and doesn't be confined to the shape of formation. Finally, the simulation result shows that the algorithm is effective.