Formation exchange of the multiple mobile robot system

We present formation exchange using minimum displacement techniques on the multiple mobile robot system. The mobile robot has the shape of cylinder and its diameter, height and weight is 8 cm, 15 cm and 1.5 kg. The controller of the mobile robot is MCS-51 microchip, and programs C language to control the mobile robot. The mobile robot can acquire the detection signals from sensors through I/O pins, and receives the command from the supervised compute via wireless RF interface, and transmits the status of the mobile robots to the supervised computer via wireless RF interface. The mobile robot contains a controller module (including DC motor driver), an obstacle detection module, a voice module, a wireless RF module, an encoder module, and a compass module. We design the user interface of the multiple mobile robot system, and develop motion path to change formation on the experimental platform. Users can control the multiple mobile robots to change formation on step by step or continuously. In the experimental results, mobile robots can receive the command from the supervised computer, and change the formation according to the proposed method.