Robot navigation and formation control using panel and leader–follower methods

This paper proposes an autonomous navigation method for a leader robot based on the panel method. Multi-robot formation control is achieved using a leader-follower approach and is found to be effective in complex obstacle environments. To demonstrate the proposed method, a collision-free path is first planned for the leader robot using the panel method along the streamline direction from the point of departure to the ending point. Next, a multi-robot formation in a complex obstacle environment is established using the leader-follower method. The effectiveness and feasibility of the leader robot and multi-robot formations are verified through both simulation and experimentation.