Flexible formation using two kinds of cellular automaton in obstacle environment

Although multi-robot formation is studied by many researchers, formation process in dynamic environment is still a tough problem. Compared with nature systems, cellular automaton is used in formation problem and has been tested in some situations. In this paper, we proposed a new flexible formation method using two kinds of cellular automaton, the robot cellular and the environment cellular are both considered, to imitate nature system formation process in the obstacle environment. Simulation is done to prove that, this method can gain good performance in the obstacle environment.