Articles | Volume 15, issue 1
https://doi.org/10.5194/ms-15-195-2024
https://doi.org/10.5194/ms-15-195-2024
Research article
 | 
22 Mar 2024
Research article |  | 22 Mar 2024

Multi-robot consensus formation based on virtual spring obstacle avoidance

Yushuai Fan, Xun Li, Xin Liu, Shuo Cheng, and Xiaohua Wang

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Short summary
In this study, we systematically improved the multi-robot formation control algorithm. We employed a virtual spring approach to stabilize formations, enhanced the Velocity Obstacle algorithm to address collisions in dynamic mobility, and introduced a leader for consistency. Simulations with up to 20 robots confirmed our method's suitability for large-scale formation obstacle avoidance. Position error and path length remained stable as robot numbers increased.