A potential field based approach to multi robot formation navigation

This paper presents a directed potential field approach for motion co-ordination in formations of multi-robot-systems. First a short introduction to the application of MRS formation navigation is given. The approach is briefly compared to related work. For the sub-task of moving in formation, a solution based on a potential field approach is presented. Different forces belonging to other robots, obstacles and the aspired shape of formation are combined and used to move each robot to its desired position inside the formation. While moving in formation, the group is able to avoid obstacles and approach towards a specified target. First results in simulation and with real robots in the presence of obstacles are presented.