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In the innovation development of the intelligent control technology period, robothas become the focus that it is researched by the recent researcher. In the meantimethe research of single robot has shaded into Multi-robot for satisfying social servicesand industrial development. Robot control is a key technology of intelligent robotresearch, it is extensively used in the domain of extensiveness search and environmentdrawing, space exploration, military reconnaissance, control UAV, and so on.In this paper, through inquiry leaning theoretical results of Multi-robot formationcontrol, summarizes the drawback and boundedness about the existing achievements,and finally, on the subject that Multi-robot formation control to do mare in-depthstudy. In the precondition of robot technology and application. Firstly there introducesthe robot dynamics, Kinematics basic knowledge.Secondly here introduce the three main method of Multi-robot formation control:leader-follower algorithm, behavior-based control, virtual structure method. On thebasic of the above methods, the article specifically narrate leader-follower algorithmformation control, and gives out the simpleness demonstrate of the initialize processof formation.Again the article particular expound Multi-robot formation control, in theenvironment of structuring more barriers, each robot keep the good communication,in real-time measurement and Leader range sensor condition, that combineestablished Leader-Follower dynamic models to adjust walking speed, and real-timerecording location information. It use linearization technique to design speedcontroller for transforming the nonlinear system into a linear system, it use thedistance difference of feedback followers and Leader to adjust formation. The robotcan bodily movement in whole queue or reduce, magnify with initial formation whenit avoid fraise, and transition the Leader role in real time.At last, in the dissertation, diamond formation is illustrated, on the Matlab7.8.0simulation platform, that it can demonstrate the formation control procedure. Thesimulation result indicates that it can effective proceed formation control, reduce thecontrol complexity, possess better robustness and stability in global environment.
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