In this paper, we propose a piloting-follower coordination formation control algorithm accompanied with a polar histogram obstacle avoidance method;we suggest here that this combined approach addresses the formation control defects that occur when multiple mobile robots must work in unison.Based on the piloting-following formation control structure, we introduce a virtual following robot, thus converting formation control into trajectory tracking control conducted by the robots that follow the virtual following robot.Using the sensing technology of the mobile robot itself, we achieved real-time navigation of corresponding paths in both simple and complicated environments.By using the two-wheel differential Qbot mobile robot as our research object, we constructed a semi-physical simulation platform for our simulation experiments.Simulation results showed that our method was able to effectively achieve coordination formation and obstacle avoidance control of multiple robots.%针对多移动机器人的编队控制问题,提出了一种结合Polar Histogram避障法的领航-跟随协调编队控制算法.该算法在领航-跟随l-φ编队控制结构的基础上引入虚拟跟随机器人,将编队控制转化为跟随机器人对虚拟跟随机器人的轨迹跟踪控制.结合移动机器人自身传感器技术,在简单甚至复杂的环境下为机器人提供相应的路径运动策略,实现实时导航的目的.以两轮差动Qbot移动机器人为研究对象,搭建半实物仿真平台,进行仿真实验.仿真结果表明:该方法可以有效地实现多移动机器人协调编队和避障控制.
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