中文摘要：

主要研究了未知环境中的多机器人系统的无碰协调跟随问题，提出了一种跟随机器人的基于局部感知的多模式控制方法，分为到达、旋转角度调整、跟随、避障和随机搜索五种模式，其中跟随模式采用模糊距离调整与角度调整策略实现对领航机器人的跟随并尽量与之保持一定的距离，当需要避障时，切线约束的避障策略使得自主机器人安全躲避潜在的危险．该方法降低了多机器人系统对通讯的依赖性，易于扩展，通过实验对有效性进行了验证．

英文摘要：

This paper mainly focuses on cooperative dynamic following problem of multi-robot system in unknown environments. A multi-mode control approach based on local sensing is proposed, which includes five modes： arrival, rotating-angle, following, avoiding-obstacle and random-search modes. In the following mode, fuzzy distance adjustment and angle adjustment strategies are adopted to control the robot to follow its leader and keep a predefined distance from it. An obstacle avoidance strategy based on tangent restriction is given to prevent the robot from possible collisions. The proposed approach may reduce the dependence on communication with good expansibility and the experiment results verify its effectiveness.