Abstract:

A distributed coordination control algorithm is proposed for multi-robot formation with limited communication. The algorithm is inspired by the flocking of animals and the consensus theory. Based on the formation graph and the matrix representation of formation graph, the stability of the formation system is analyzed via the frequency domain method combined with the stable theory. The sufficient and necessary condition is obtained. The multi-robot formation is obtained to get the desired geometry formation and velocity. The relations between the maximum tolerable delay, the parameters, and the eigenvalues of the Laplacian matrix are also investigated through simulations of fourrobot formation verify the effectiveness of formation control strategy and the correctness of the conclusions.

Key words: multi-robot system, formation control, limited communication