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<p>This paper proposes an autonomous navigation method for a leader robot based on the panel method. Multi-robot formation control is achieved using a leader–follower approach and is found to be effective in complex obstacle environments. To demonstrate the proposed method, a collision-free path is first planned for the leader robot using the panel method along the streamline direction from the point of departure to the ending point. Next, a multi-robot formation in a complex obstacle environment is established using the leader–follower method. The effectiveness and feasibility of the leader robot and multi-robot formations are verified through both simulation and experimentation.</p>

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Robot navigation and formation control using panel and leader–follower methods

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2025年12月5日

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  • Qing Han,
  • Biao He,
  • Jianxiong Zhang,
  • Jian Zhang

摘要

This paper proposes an autonomous navigation method for a leader robot based on the panel method. Multi-robot formation control is achieved using a leader–follower approach and is found to be effective in complex obstacle environments. To demonstrate the proposed method, a collision-free path is first planned for the leader robot using the panel method along the streamline direction from the point of departure to the ending point. Next, a multi-robot formation in a complex obstacle environment is established using the leader–follower method. The effectiveness and feasibility of the leader robot and multi-robot formations are verified through both simulation and experimentation.