Implement of a multi-AGV platform with formation control algorithm

Aimed at the demands of multi-agent system's research, a multi-AGV (Automated Guided Vehicle) platform is developed and a formation control algorithm is verified on the proposed platform. Firstly, a multiple AGVs platform services for Multiagent System (MAS) researchers is introduced, the AGV is implemented with embedded system, and can track reference input signal. Then the models for both individual AGV and MAS are proposed. Based on the model, a second order consistency protocol for the formation control problem is present. And the asymptotic convergence condition is present. A formation control algorithm is given and implement on the embedded AGV. Finally, simulation and experiments are done to validate the proposed algorithm.