Multiple Mobile Robot Sequential Flocking Control Integrating Path-tracking Mode

Aiming at implementation of multiple mobile robots' flocking and solution of the corresponding obstacle-avoidance problem,a sequential flocking control algorithm integrating path-tracking mode is proposed.This algorithm combines leader-follower flocking mode with queue motion mode,realizing the unification of rapid aggregation behavior and effective obstacle-avoidance behavior in multi-robot system.Simulation results obtained with mobile robots group demonstrate the efficacy of the proposed method.