Formation control for multi-robot system using adaptive Kalman filter algorithm

Adaptive Kalman filter algorithm (AKF) is utilized to improve the performance of the robot´s speed and heading angle, which can eliminate the system state noise and error, generated by the sudden change of formation in the multi-robot leader-follower system. The approach guarantees that the robots can reach the desired position quickly and accurately and keep a predetermined formation. The motion parameters are adjusted to maintain the formation configuration and help to complete the predetermined route with a desirable formation, providing an effective efficiency to the robot collaboration system. Player/Stage is used as the simulation platform to verify this approach, and the results have demonstrated the effectiveness of the proposed optimization method of formation control for multi-robot system.