Formation Control of UGVs Based on Artificial Potential Field

Abstract

According to the problem of UGVs' formation control in the process of motion, a formation control method of UGVs based on artificial potential field is proposed, established on the collision avoidance, aggregation and speed matching rules of UGVs. First establish the UGVs' kinetic model in accordance to the motion rules, then design the formation control algorithm based on artificial potential field function, which is used to control the formation during the movement of UGVs. Finally, the results of simulation and physical experiment verify the effectiveness of formation control method, which is also suitable for the formation control of large-scale UGVs.