A behavioral multi-robot formation control approach in obstacle environments

A behavioral multi-robot formation control approach is proposed. A leading robot moves along a predetermined trajectory. Two behavioral modes are defined for other robots to establish and maintain a given geometric shape with the leader in obstacle environments. To ensure the relative distance and bearing to the leader, the distance and the bearing to be kept are adjusted by two fuzzy logic controllers, respectively. The final follower's velocity is acquired by decision-making and the robot can pass through obstacle environments. The simulation results show the validity of the proposed approach.