Wall-Following Control of Multi-robot Based on Moving Target Tracking and Obstacle Avoidance

Studies on wall-following problem mostly focus on an single robot only. This study proposes a wall-following method of multi-robot, which is based on moving target tracking. The leader robot moves along walls by using position information include angle and distance between robots and walls. The follower robot moves along the walls, tracks its leader and avoids collision at convex corner of walls. Two E-puck robots are used in experiment in this study. The results of experiment verify the feasibility of this method.

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