Distributed Formation Control of Multi-robot System Inspired by the Foraging Behavior of Bacteria

Swarm Intelligence which emerges from interactions of simple individuals can be used to solve many problems.Firstly,the relationship between the foraging behavior of the bacteria and the formation control of the robots are described.Then,the model of foraging behavior is extended for the distributed formation control of multi-robot system.Finally,the experiments in different sizes of robots show that the method in this paper makes the robots avoid the obstacles when they meet the obstacle,and resume the formation after passing the obstacles in the formation tasks.