Leader-follower formation control and obstacle avoidance of multi-robot based on artificial potential field

Leader-Follower formation control of multi-robot was studied in this paper. A formation and obstacle avoidance method with multi-robot based on the combination of Closed-loop control and Artificial Potential Field was presented. According to the position information of leader, Closed-loop control was introduced to realize the tracking of the follower to the leader, and the formation control was achieved. The obstacle avoidance could be achieved by Artificial Potential Field method, and the robots can pass the area of obstacle smoothly. The simulation result shows that the proposed method can achieve the expected control effect, and it can solve this kind of problems effectively.