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The simulation study on formation control of multi-robot system based on behaviors

LEI Yan-min1,2,FENG Zhi-bin3,SONG Ji-hong2(1.Automation College,Harbin Engineering University,Harbin 150001,China;2.Electronic Information Engineering College,Changchun University,Changchun 130022,China;3.Aviation Lifesaving College,Airforce Aviation University,Changchun 130021,China)  
The formation problem of multi-robot is a typical problem in cooperation of multi-robot-system.The formation includes formation form and formation control.Aiming at the formation control problem,we use the method which is combined behavior-based with leader-based in this paper.Five primitive behaviors called move-to-goal,keep-formation,avoid-stastic-obstacle,avoid-robot and random are devised on the basis of Motor Schema's reactive control architecture.Each behaviors is weighted sum to control local behavior of robots.Using coordinated strategy based on leader harmonizes behaviors of robots to control final behaviors.The simulation results validate the feasibility and validity of this method.
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