Style requirement for the Chinese control conference in the paper. The writers of papers should and must provide normalized electronic documents in order to readers to search and read papers conveniently. Behavior-based formation control method was chosen to be the main research direction. Five primitive behaviors called move-to-goal, avoid-obstacles, swirl- obstacles, random-noise and maintain-formation were introduced for the formation control strategy. Several formations are simulated avoiding stable obstacles at the same time. The neighbor and leader referenced methods are combined so that the formation figure can be changed according to the environment. Simulation experiments indicate the robot team equipped the new method can get through the large scale obstacle,and the control strategy was feasibility and validity.%针对多机器人的队形保持与变换任务,采用基于行为的控制方法,设计了五种子行为,即奔向目标、躲避障碍物、围绕障碍物、随机扰动和保持队形.对有障碍物环境下的队形保持进行了仿真,并针对机器人队伍无法保持队形通过的地形,采用邻居参照点法与领航参照点法相结合的策略,改进了控制方法.仿真结果表明,使用改进的控制方法,机器人队伍可以安全地通过大直径障碍物,并且提高了队形稳定性.
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