Formation control for multi-mobile robots based on laser SLAM and embedded technique

As robotics technology advances rapidly, collaborative tasks in unknown environments demand higher autonomy and cooperative capabilities for the multi-mobile robot system (MRS). To solve problems like large cumulative positioning errors in odometry and high communication overhead in traditional formation control, this paper proposes an embedded formation control scheme based on laser Simultaneous Localization and Mapping (SLAM). First, a hierarchical formation control framework integrated with the Leader-Follower strategy is designed. The upper layer uses a distributed virtual signal generator to calculate desired trajectories, and the lower layer adopts local tracking controllers for precise tracking-effectively lowering system communication overhead. Second, the Gmapping algorithm is corrected for motion deformation via odometry data fusion, improving environmental modelling accuracy and reliability. Experimental results show that compared with traditional odometry-based integration localization, the proposed algorithm has higher localization accuracy and formation stability, improving MRS's collaborative efficiency and environmental adaptability in unknown environments.