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中文摘要：
提出以视觉跟踪为基础并引入通信进行多机器人的编队控制方法，根据需要编写了一种新的通信协议，采用闭环l-Φ实现编队算法。这种多机器人编队控制避免了视觉系统的局限，能够更好地在复杂未知环境中协作完成任务，解决了编队控制的无反馈和实时性不高的问题，使得机器人能够准确迅速地进行跟踪和通信编队，一起顺利达到目标点。试验结果证明了该方法的有效性。
英文摘要：
Based on track by vision, communication was imported in formation control of a multiple mobile robots system. A new communication protocol was constituted for need. With this technique, the limit of the vision was prevented and the multiple mobile robots system could work coordinately in the unknown environment. The problem that there was no feedback in for- mation control was resolved and the real-time was improved. Then the robots could be in their lines correctly and quickly and arrived at the goal position. Experiment result proves the method is feasible.
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