Time-varying Formation Control for Multiple Omni-WMRs Based on ROS

The present study introduces a time-varying formation control algorithm designed for multiple omni-directional mobile robots (Omni-WMRs). The algorithm employs a leader-follower strategy, which tackles the challenge of time-varying consistency in multi-robot formation control within complex environments by devising a communication topology and an error control method that ensure consistency. To validate this algorithm, a multi-robot experimental platform based on ROS was designed and constructed, utilizing its modularity and scalability to facilitate dynamic adjustments and efficient cooperation within the multi-robot system. Experimental results show that the control algorithm and experimental platform can achieve precise target trajectory tracking and flexible formation control in complex environments, maintaining consistency errors within acceptable ranges, and demonstrating efficiency and stability in practical applications.