A decentralized position estimation switching algorithm to avoid a convex obstacle

We proposed a decentralized formation control method and a path planning for a mobile robotic network to avoid an obstacle in an environment without the possibility of collision between the teammates. We applied the leader-follower pattern where the leader estimates the safest path to maintain the minimum allowable distance with the obstacle while avoiding it. The mathematical analysis shows the robust performance of the proposed Position Estimation Switching Algorithm (PESA) which is designed to reduce the computation while improving the performance of the team. The computer simulation confirms the accuracy of the proposed model.