Distributed formation control of multi-robot system with obstacle avoidance

Formation control is one of the emerging research topics in the study of multi-robot coordination. In this research, we designed distributed formation control with obstacle avoidance. Our formation control law uses consensus algorithm with displacement-based strategy. It consists of three layers of control. The first layer is formation center estimator using consensus algorithm. The second layer is a regulated hybrid system between position tracking and obstacle avoidance. The third layer is transformation to control signals for nonholonomic robots. We verify the controller by simulation on MATLAB.