Virtual flocking center based multiple mobile robot formation control under local information
SHI Jun
（Xian Railway Vocational and Technical Institute, Xi  an 710026, China）


Abstract: Aiming at the problem of limited sensing capability of mobile robots who could only adjust their movement according to the motion behavior of their neighbors, a virtual flocking center based multi robots formation control algorithm was designed according to REYNOLDS s flocking control rules. A distributed virtual flocking center estimator was designed to make individuals move toward their own virtual flocking center, which was proved by theoretical analysis that the virtual flocking center would ultimately converge to the real flocking center. Moreover, artificial potential approach and velocity consensus rule were adopted to realize the formation control of multi robots. The results indicate that the mobile robots eventually enter the steady state under the leadership of the robot, the individual s speed tends to be the same, and the distance between each other is stable.
Key words: multiple mobile robot; formation control; local information; virtual flocking center; artificial potential field