Research on Formation Handling of Serial Swarm Robots

With analysis and research for of the serial formation of swarms robots movement, the strategy of keeping swarms robots formation in the process of schlepping and turning was proposed based on the discussion of the robot kinematic model. In the condition of the wireless communication the master-slave robots can control their speed based on environmental information in order to keep the spacing between robots as well as the configuration of the serial formation in the process of turning. Finally, the simulation of Matlab for the serial formation verifies that the formation configuration keep unchanged, which also verifies the validity of the method.