中文摘要：

结合领导-跟随法和VFH＋避障法,提出一种基于观察者的多机器人编队控制方法,并利用Player/Stage机器人仿真平台,对编队控制方法进行了仿真实验。结果表明,编队控制方法可有效地将一组移动机器人以一定队形无碰地到达指定目的地。基于Player/Stage机器人仿真平台的特性,编队控制方法完全可以用于实际机器人上。

英文摘要：

An observer-based formation control algorithm for multiple robots in unknown environment is proposed on the basis of the leader following method and the VFH＋ obstacle avoidance method.Simulation experiments are conducted on Player/Stage robot simulation platform.The results show that the formation control method can move a team of robots effectively toward a given destination without collision with each other.Therefore,the formation control method is applicable to robots in real situations.