Formation control method of multiple mobile robots imported communication
一种引入通信的多移动机器人编队方法

Based on track by vision, communication was imported in formation control of a multiple mobile robots system. A new communication protocol was constituted for need. With this technique, the limit of the vision was prevented and the multiple mobile robots system could work coordinately in the unknown environment. The problem that there was no feedback in for- mation control was resolved and the real-time was improved. Then the robots could be in their lines correctly and quickly and arrived at the goal position. Experiment result proves the method is feasible.