Connectivity Controlling of Multi-robot by Combining Artificial Potential Field with a Virtual Leader

It is often assumed that a multi-robot network is connected initially. However, it doesn´t agree with the actual case that robots are randomly placed in an unknown environment. This paper explores a control algorithm combined artificial potential field function with the virtual leader in wireless sensor network environment to control the connectivity of a multi-robot system, even initial network is unconnected. Potential field function provides foundation of establishing connectivity for subsequent control in a multi-robot system. Finally, comparison between the proposed algorithm and others are analyzed through simulation experiments. It is demonstrated that the proposed algorithm can overcome local optima and control communication topology relationships for the multi-robot system.