D-Leader Control Algorithm for Multi-Robot Formation Transformation

The Leader-Follower algorithm stands out among many multi-robot formation control algorithms due to its simple operation and easy implementation. However, the Leader-Follower algorithm has a strong dependence on the pilot robot and poor information feedback. To solve this problem, the multivariable D-leader algorithm based on multi-robot formation transformation is proposed in this paper. Based on the Leader-Follower algorithm, the idea of dynamic pilot is introduced to make the multi-robot formation flexibly, and realize the dynamic adjustment of the pilot robot while changing the multi-robot formation. At the same time, the Runge-Kutta algorithm and the transformation method of particle model and difference model are combined to realize the flexible adjustment of path and position during formation transformation. The cross-mode experimental simulation shows that compared with the Leader-Follower algorithm, the formation adjustment rate of multi-robot is increased by an average of 66.7% and the dynamic navigation rate of pilot robot is increased by an average of 53.35% under the D-Leader algorithm. The D-Leader algorithm not only realizes the formation adjustment of multi-robot but also effectively improves the performance of multi-robot formation.