Formation control for wheeled mobile robots based on consensus protocol

In this paper, consensus protocol is presented for formation control of the mobile robots. In allusion to the mobile robot platform, a local computer which is used as controller and the AmigoBot mobile robots set up a wireless local area network (WLAN), transmitting data by means of wireless communication to implement the remote control of robots. The kinematics mathematical model and the position and orientation error model of the mobile robot is presented, making use of consensus protocol to implement the column and triangular formation control. Simulation experiment and real robot experiment results demonstrate that the proposed control algorithm is feasible and effective.