Formation control of omni directional mobile robots
YANG Ping, HOU Jing ru
(College of Mechano Electronic Engineering，Lanzhou University of Technology, Lanzhou 730050, China)

Abstract: Aiming at the problem of formation control for multi robot system,formation behavior was divided into task execution behavior, formation keeping behavior and the safe operation behavior, and was extensively studied, all kinds of traditional formation methods were studied and compared,robot kinematics model was established,the control of the vehicle parameters were gotten, an omni directional mobile robot based on McKenna s wheel formation of formation control based on behavior of the fusion algorithm was proposed,formation of a variety of behavior simulation was conducted by using the Matlab software. The results indicate that the fusion formation control algorithm based on behavior can make omni directional robot complete formation behavior,can achieve formation to form, formation keeping,to avoid static obstacles, avoid robot and to target, etc,formation is implemented quickly and high reliability.

Key words: formation control; McKenna s wheel; omni directional mobile robots; fusion algorithm