Formation control based on leader — Following method for multi-robot to reduce path deviation

In view of the unavoidable Path deviation of the leader-following method in the course of movement. A method to reduce the deviation by using the ZigBee positioning system is proposed. In the process of real-time movement of the leader and followers to locate, thereby constantly modifying the followers forward angle θ and speed V, making the Path deviation smaller. In this paper, as zigbee positioning to take the wireless signal loss model, affected by the environment, so in order to improve the positioning accuracy, the use of the triangle centroid algorithm. So that the formation of more reliable to maintain.