Dynamic formation and obstacle avoidance control for multi robot system

For the formation and obstacle avoidance problems of wheeled mobile robot, a multi-robot formation algorithm of trajectory tracking based on fabrication method is presented. First kinematics model is transformed into a chained form, and then through the canonical coordinate transform, the form error of the system is transformed into a series of nonlinear system, then Lyapunov function of the wheeled robot tracking system is constructed by using Backstepping method and the trajectory tracking controller for wheeled robot is obtained. And then according to the formation and trajectory, the corresponding virtual robot is generated, thus the formation problem is transformed into a tracking problem for virtual machine. Finally simulation experiments of the triangle formation control, formation transform formation control and obstacle avoidance formation control are carried out. The results verify the effectiveness of the proposed formation method.