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Robot navigation and formation control using panel and leader-follower methods.

Qing Han1, Biao He2, Jianxiong Zhang2

  • 1School of Robot Engineering, Yangtze Normal University, FulingChongqing, 408100, China. hanqing@mail.nwpu.edu.cn.

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|December 4, 2025
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Summary
This summary is machine-generated.

This study introduces an autonomous navigation method for leader robots using the panel method, enabling effective multi-robot formation control in complex environments. The approach ensures collision-free paths and successful formation maneuvers, validated by simulations and experiments.

Keywords:
Autonomous navigation methodMulti-robot formationPanel methodPure angle observation information

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Area of Science:

  • Robotics
  • Autonomous Systems
  • Computational Fluid Dynamics

Background:

  • Multi-robot formation control is crucial for complex tasks.
  • Leader-follower approaches are effective but challenged by complex environments.
  • Autonomous navigation requires efficient path planning.

Purpose of the Study:

  • To propose an autonomous navigation method for leader robots.
  • To achieve multi-robot formation control in complex obstacle environments.
  • To validate the proposed method through simulation and experimentation.

Main Methods:

  • Utilized the panel method for collision-free path planning of a leader robot.
  • Implemented a leader-follower strategy for multi-robot formation control.
  • Conducted simulations and physical experiments to verify the approach.

Main Results:

  • The panel method successfully generated collision-free paths for the leader robot.
  • The leader-follower formation control proved effective in complex obstacle scenarios.
  • Both simulation and experimental results confirmed the method's feasibility.

Conclusions:

  • The proposed autonomous navigation method enhances leader robot capabilities.
  • Multi-robot formations are efficiently managed in challenging environments.
  • The panel method is a viable technique for robotic navigation and formation control.