Comparative Experimental Study of Formation Control of Mobile Robots

In this paper, we compare two control strategies for a multi-robot formation control problem based on virtual structure approach. Assuming that each robot knows states of the virtual leader, we can use any control strategies to derive the robots to their desired state. In this paper, we specifically compare PID controller and l − ψ controller. Our experiment shows that, if each robot knows the exact states of the virtual leader, l − ψ controller is superior to PID controller.