Multi-Robot Formation with Multi-Object Behavior Coordination in Static Environment

抄録

Multi-robot system is received much attention in various fields. In multi-robot system, each robot needs to cooperate with other robots. In order to cooperate, each robot has to achieve the individual objective and system's objective simultaneously. This paper deals with the formation problem in multi-robot system and proposes a formation method with multi-objective behavior coordination(MOBC). In this method, each robot can behave to individual and system's objective concerning the formation simultaneously. The effectiveness of the proposed formation method is demonstrated through some simulations with three autonomous mobile robots in static environments.