Formation Control of Multiple Mobile Robots with Large Obstacle Avoidance

This paper presents a formation control of mobile robots with a large obstacle avoidance. The mobile robots considered in this paper have multiple sonars which are used for not only constructing formation but also avoiding obstacle. The novel modules overcoming the drawbacks of the previous navigation algorithm [6] are introduced to accomplish the obstacle avoidance and formation control. The effectiveness of the proposed techniques are demonstrated by an experiment using three mobile robots.