VFH based obstacle avoidance system for leader-following formation control

This paper introduce previous research about leader-following formation control and system structure and explain about modification of VFH algorithm to suitable for leader-following formation control. Finally, these two process are integrated by our proposed method. The robot is running as (d,φ) -control mode and VFH mode alternately. When running mode is changed VFH to (d,φ) -control, discontinuity is occurred in velocity of the robot. To solve this problem, we proposed gradual change in formation method. Simulation and outdoor experiment result used to confirm performance of our proposal.