Leader-Neighbor Algorithm For Polygon Static Formation Control

This paper presents the designing of a powerful formation control for multi-robot called leader neighbor algorithm in an unknown environment. The principal task for the robots group is to form a static geometric polygon shape formation using RP Lidar sensors equipped on each robot. Two stages are implemented to investigate the polygon shape formation: The leader alignment stage and the neighbor alignment stage. In the first stage, the information collected by the leader RP lidar sensor is used to localize and to compute the orientation of each neighbor robot. The neighbor RP lidar sensors are used to alignment the neighbor robots to the leader one by moving these neighbor robots toward the leader. The implementation of this stage makes the neighbor robots have equal distance from the leader one. In the second stage, the information collected by the neighbor RP lidar sensors are used to rearrange the distances to be equal among these robots. This process is achieved by moving the neighbor robots in a circular path around the leader robot. In this paper, one leader and four neighbor robots are used to approving the suggested leader neighbor algorithm.