Formation control of multiple robot fishes based on artificial potential field and leader-follower framework

Based on the artificial potential field, an approach is proposed for the formation control of multiple robot fishes, which overcomes the disadvantage that the collision avoidance is not satisfactorily solved in the leader-follower framework. In accessible areas, the formation of multiple robot fishes is maintained in the moving to target point by controlling the distance and angle between follower and leader. Under obstacle environment, robotic fish established expectations point to create artificial potential field by the order of priority. The simulation verifies the effectiveness of the method.