The path planning with formation of multi-robot in multi-obstacle

In order to ensure the communication and a certain sensing coverage between robots on the path, the robots should not disperse excessively in an unknown environment. To make sure the multi-robot system can pass through the obstacle area safely and quickly during the marching process, a path planning approach based on improved RRT algorithm and fuzzy control algorithm is proposed. This approach with off-line planning and on-line quadric planning function adapts to plan a path on robots keeping formation for mobile multi-robot in an unknown environment. The simulation results indicate that the mobile multi-robot system based on this path planning can avoid obstacles and march to destination with special formation in majority scenes.