A Multi-robot Dynamic Formation Scheme Based on Rigid Formation

A method that optimizes formation control and obstacle avoidance strategy in restricted environment is proposed in this paper. First, in order to maintain the formation while avoiding obstacles under the restricted environment, rigid formation control is implemented as the solution. Second, comparing with static changing of formation, this method takes the width of the obstacle zone into consideration. With a formation base is proposed in this paper, multi-robot is able to adjust the formation from formation base based on real-time feedbacks. Finally, the feasibility of this method is proven by a number of simulations conducted on the AmigoBot robot platform.