Multi-robot Formation Control Based on Parameter optimization Algorithm

摘要

This paper proposes a multi-robot formation control algorithm. The controller is designed by the difference between the distance and the angle of the two robots. It is proved that the algorithm can guarantee the stability of the formation. Furthermore, the obtained formation control algorithm is tested on the software platform and Pioneer3-DX platform. According to the multi-robot formation control algorithm, a control method of adaptive parameters is proposed. The existing parameters are replaced by fitting equations, which improves the efficiency of parameter adjustment. Simulation and experimental results verify the feasibility and effectiveness of the proposed method.