リーダ・フォロワ法における複数移動ロボットの隊列形状遷移

（優先度変更の有無による形状遷移の比較）

抄録

This paper presents a control method for transitioning the formation shape in the leader-follower method, shape transition, as a new feature to bring flexibility to mobile robot formation control. First, we propose a basic shape transition method under formation control by the leader-follower method, and then demonstrate the effectiveness of the shape transition method proposed in this paper through control experiments using the Pioneer, a mobile robot with multiple sonar sensors.