Formation Control of Multi Robots using Multiple-camera with ROS

Abstract

In this paper, we propose a formation control of multi robots using multiple-camera image information. To accomplish the formation control, we have to detect the position of mobile robots. One of the position detection methods is to use a video camera which is attached on the ceiling. However, only using one video camera, the movement area of mobile robots is limited. To expand the movement region, we use multiple-camera image information and constructed the control system with ROS. We carried out the formation control of multi robots to verify the movement area expansion which is captured by multiplecamera. The effectiveness of our proposed method is shown by experimental result.