Multi-spherical robot formation control based on pigeon swarm optimization

In order to realize tight formation control of spherical robots, a formation control method of multi-spherical robot system was proposed based on optimization of pigeon swarm algorithm. Based on the kinematics model of spherical robots, the roles of spherical robots were divided into leader and follower. A PID controller was designed for stability control in x and y direction channels. According to the desired position and velocity, a corresponding fitness function is uniformly set to optimize the optimal parameters of the formation controller. Finally, the stable control of the multi-spherical robot formation is realized in the simulation environment.