Geometric formation with uniform distribution and movement in formation of distributed mobile robots

Abstract

The formation problem of distributed mobile robots was studied in the literature for idealized robots. Idealized robots are able to instantaneously move in any direction, and are equipped with perfect range sensors. In this study, the formation problem of distributed mobile robots that are subject to physical constraints is addressed. Mobile robots considered in this study have physical dimensions and their motions are governed by physical laws. They are equipped with sonar and infrared range sensors. The formation of lines and circles by using the potential field method is investigated in detail. It is demonstrated that line and circle algorithms developed for idealized robots do not work well for physical robots. New line and circle algorithms, with consideration of physical robots and sensors, are presented and validated through extensive simulations. Movement in formation of a small group of physical mobile robots is also studied. An algorithm is developed using the potential field method that makes robots move through a workspace filled with many obstacles while maintaining the formation.