Controlling formations of multiple mobile robots with inter-robot collision avoidance

In this paper, we investigate the problem of inter-robot collision avoidance in multiple mobile robot formation control. Two methodologies are utilized, namely Virtual Robot tracking by [Jongusuk and Mita, 2001] and l-l control by [Desai et al., 1998] to establish formation and avoid collision among robots. We point out that the framework in Virtual Robot tracking is potentially subject to collision among robots. This drawback is overcome in our design by incorporating a different reactive scheme in the incident possibility of collision. To prove the advantages of our framework, we demonstrate in simulation the case of three robots moving in formation and avoiding inter-robot collisions.