Formation control of multiple mobile robots based on the modal decomposition by discrete fourier series expansion

This paper proposes a formation control method of multiple mobile robots based on the modal decomposition by Discrete Fourier Series expansion (DFS). The proposed method controls the formation by controlling the linear velocity and rotational velocity in modal space. The motion of formation is derived by the modal decomposition. Thus, the proposed method obtains the physical meaning of the motion of formation. Therefore, it can analyze and control directly motion of formation. In addition, a command velocity can be independently designed and combined in each decomposed mode. Finally, the validity of the proposed method is confirmed by the experimental results.