Research on Multi-robot Formation Based on the Artificial Coordinating Field

In allusion to the single formation control of multiple mobile robots and the local minimum of the traditional artificial potential field method, this paper proposes an improvement of Artificial Coordinating Field(ACF), by which not only does the formation vary with the amount of robots at certain time, achieving the result of the dynamic formation; but the dynamic target is suitable to be chased, and robots' function of avoiding obstacles becomes more flexible. the method above is verified through simulation experiment.