Formation control for multiple robots in uncertain environments

A formation control approach for multiple robots in uncertain environments is proposed, which adopts the formation parameter matrix to establish the relative relationship among robots, decomposes the global-level formation control problem into the-off-axis point of the follower tracking the-off-axis point on the virtual robot which has the same orientation with the lead robot and maintains a desired relative distance and desired observation angle with respect to its lead robot, and designs the tracking control law. Simulation results are given to demonstrate the feasibility and effectiveness of the approach.