In this paper, we propose a new control method which realizes “well-organized” crossing motion of multiple swarms of robots. Although there are several researches which realize crossing motion of multiple swarms of robots without collision, the transient state is not considered. To realize “well-organized” crossing motion, we define what “well-organized” crossing is in this study, and then propose the crossing motion planning method which consists of an offline path planning, an online follow-up control and online collision avoidance. Especially, in the offline path planning, which is based on model predictive control, a trajectory without disorder of the formation is generated. Furthermore we show the validity of the proposed mothod by some simulations and experimental results.
