A distributed navigation strategy for multiple mobile robots to make group formations adapting to geometrical constraints

dThis paper presents a novel distributed navigation strategy of multiple holonomic mobile robots to make group formations adapting to geometrical constraints in their working environment. Each mobile robot in this navigation strategy has its own coordinate system and it senses its relative position to others, so as to make group formations. Each mobile robot especially has a two-dimensional control input referred to as a "formation vector" and the formation is controllable by the vectors. Adjusting the vectors in a distributed fashion, the group makes the formations fitting into the geometrical constraints determined by the arrangements of landmarks that specify the location of the group, and obstacles. The validity of this navigation strategy is supported by computer simulations.