The formation-keeping of multiple mobile robots using chained-poles

In this paper, we propose an formation-keeping and changing methods for outdoor multiple mobile robots in chained form. The proposed method is designed to maintain the follower to its desired distance and orientation with respect to the pole using the concept of virtual force such as potential field. We use the centralized system and the client robots use the behavior-based control to perform kinematic control to keep formation. The relationship of each poles that is expressed by set of distance and angle is the description of the formation type and the type converting is performed using this set. In addition, we also examine the stability and capability in the simulation and experiments with real robots.