Abstract
In this paper, we propose and implement a formation control algorithm for a mobile robot group. Although obstacle avoidance is quite essential function, it is hardly compatible with keeping a formation. In the former studies, robots often switch its motion algorithm, however, there is no concrete criteria for such decision. In this paper, we employee synchronization of nonlinear oscillators those communicate each other. By sensor signals, we increase and decrease phase gaps among the oscillators. According to the phase gap, we change gains to make a formation in order to avoid obstacles. We have implemented the proposing system on actual robotic systems and show the feasiblity.
