Formation Control of Sonar Equipped Mobile Robots and Obstacle Avoidance

Abstract

This paper presents formation control of mobile robots with large obstacle avoidance. The mobile robots used in this study have multiple sonars which are used for not only detecting the obstacle but also tracking the leader robot. The navigation algorithm proposed in our previous papers are examined in more complicated environments; that is, oval and wall obstacles. New techniques are introduced to achieve the formation control with the obstacle avoidance in navigation experiments.