Abstract
This paper mainly studies the motion consensus and formation control of robot swarm, and designs a new formation control and trajectory tracking algorithm based on artificial potential field method and implicit leaders. The algorithm can control the swarm to approach the desired formation and realize collision avoidance between robots. By "implicitly" integrating the leaders into the swarm, the proposed algorithm can not only guarantee a swarm of robots to move along predefined formation and track scheduled trajectory with certain velocity, dynamic leader reassignment is also realized, thus enhancing the adaptability and expansibility of the swarm. Numerical simulation results verify the correctness of the theoretical analysis and the effectiveness of the algorithm.
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