Autonomous decentralized control for formation of multiple mobile-robots considering ability of robot

The studies about multiple mobile robots have been developed. Formation control is an important theme since it is applicable in various themes. "Leader-following" strategy is a suitable method for controlling multiple mobile robots in formation. It is because it is easy to control robots and to express a formation of robots. But in this strategy, it is difficult to consider the ability gap of a robot like human being. In respect of autonomous decentralized control, it is important to control robots in most suitable formation considering the ability of a robot. Each robot has to be controlled by each controller according to the ability. The purpose of this study is to control multiple mobile robots in formation considering the ability of a robot using "leader-following" strategy. At first, new idea which is called performance index is defined and new controller is proposed based on performance index. Second, compliance controller using a virtual repulsion is suggested in this paper, so that each robot can avoid collision. Finally simulation results show the validity of the proposed method.