Leader-follower formation control without information of heading angle

This paper presents a robust formation control method independent on noise of camps sensor. There are various formation control method for multi-robot system. These methods offer great way to keep the (d, φ)-formation. In real environment, however, heading angle of each robot is affected by noise of compass sensor. Because of this reason, follower can´t keep exact formation. In this paper, we suggest formation control method that uses PID controller to resolve this problem. And we also prove that PID controller is effect to reduce position error.