Swarm robots aggregation formation control inspired by fish school

Aggregation formation control strategy for swarm robots is proposed based on fish school model. Three behaviors: repulsive behavior, parallel behavior and attractive behavior, are introduced which make swarm robots form fish school like aggregation formation. Motor Schemas for avoiding obstacles and moving to target are designed which enable swarm robots to avoid obstacles and reach target. Individual robot autonomously adjusts its position based on its local sensing, so the aggregation formation control strategy is flexible and robust. Simulation experiments verify the validity of the control strategy.