Dynamic Density-Guided Method for Multi-Robot Formation Transformation

This paper addresses the formation control problem for ground mobile robot formations and proposes a formation transition method based on dynamic density guidance. To achieve different formation transitions, a centroidal Voronoi tessellations (CVT) formation control algorithm is utilized to avoid collisions during the transition process. By leveraging the properties of the CVT algorithm, a dynamic density is generated by constructing a transition density function between the initial formation density function and the desired density function. The CVT algorithm then guides the robots in the formation to move and complete the transition and reconstruction of the formation. The simulation results demonstrate that, compared to using the desired density function directly, this method not only successfully resolves certain formation transition failures but also reduces the average positional error of the formation during the transition process.