A METHOD FOR CONTROL AND MAINTENANCE OF FORMATION USING VELOCITY AND ACCELERATION OF MULTIPLE ROBOTS

摘要

PURPOSE: A method for controlling and maintaining the formation of multiple robots in consideration of the conveying speed and direction of the robots is provided to maintain the formation of multiple robots by controlling one robot. CONSTITUTION: A method for controlling and maintaining the formation of multiple robots is as follows. A target point for forming formation of robots is determined. The relational expression of the target point is calculated in consideration of the other robots and obstacles. The relational expression is composed of repulsive force and attractive force. A specific robot is controlled based on the relational expression.