Research on Keeping Formation of Multi-robot System
Huiying Dong · Transactions of Shenyang Ligong University · 2007
The movement course of robot team is divided into normal movement phase,obstacle avoidance phase and formation recovery phase.As for single robot,it includes avoiding obstacle state and running to target state.Virtual robot is introduced into obstacle avoidance phase for purpose of making other robots to maintain formation,at the same time,the whole robot is divided into aggregations with different priority,the robot which in avoiding obstacle state follows the nearby robot in the higher priority aggregation.The simulation results show that robot avoiding obstacles are available and formation is kept well by the algorithm.