Obstacle avoidance of a mobile robot group using a nonlinear oscillator network

In this paper, we propose and implement a formation control algorithm for a mobile robot group. Although obstacle avoidance is a highly essential function, it is not compatible with maintaining a formation. In previous studies, robots often switched their motion algorithms. However, there no concrete criteria exists for such decisions. In this paper, we employ the synchronization of nonlinear oscillators that communicate with each other. By using sensor signals, we vary the phase gaps among the oscillators. According to these phase gaps, we change gains to form a group in order to avoid obstacles. We have implemented the proposed system using actual robotic systems and have demonstrated its feasiblity.