Abstract
In order to solve the problem that group formation control and optimal path cannot be considered simultaneously for weakly driven multi robot under the influence of environmental flow field, a method combining time-optimal path planning and leader-follower formation control is proposed in this paper. The time-optimal path of the leader is obtained by level set method, and the formation keeping is based on this path. According to the position of the leader and the reachable set of the follower at a certain time, the position of the follower is determined by solving the formation optimization function, and the complete path is completed by solving the formation optimization problem iteratively. While the formation optimization function maintains the group formation, the reachable set generated by the level set method ensures the feasibility of the path obtained in the time-varying strong flow.
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