One virtual structure formation control approach based on RRT and fuzzy control algorithm

The target of path planning of mobile multi-vehicle system is to find a suitable path from departure to destination in a uncertain environment, by which the multi-vehicle system can pass through the obstacle area safely and free collision during the marching process. In order to ensure the communication and sensor covering between robots on the path, the robots should not disperse excessively. Therefore, a formation control approach based on improved RRT algorithm and fuzzy control algorithm is proposed in this paper. This approach with off-line planning and on-line planning function adapts to plan a path with formation for mobile multi-vehicle in an unknown environment. The simulation and experimental results indicate that the mobile multi-vehicle system based on this path planning can avoid obstacles and march to destination with special formation in most scenes.