Fig.1

Rigid structure formation guided by virtual navigator

Fig.2

Pose error analysis of leader and follower formation

Fig.3

Designed flow chart of overall formation controller

Fig.4

Algorithm steps of APF method in combination with simulated annealing

Fig.5

Diagram of escaping from local optimum by simulated annealing

Fig.6

Schematic of simplified kinematic model of transfer tooling

Fig.7

Geometric relationship schematic of pure pursuit tracking method

Fig.8

Location convergence process of AMCL algorithm

Fig.9

Positioning process of AMCL algorithm applied to collaborative operation of mobile robot

Fig.10

Construction of workspace simulation environment

Tab.1

Technical parameter of transfer tooling

Fig.11

Variation diagram of potential field in workspace of multiple mobile robots

Fig.12

Motion model of differential wheel transfer tooling

Fig.13

Failed path planning in traditional artificial potential field method

Fig.14

Target path planed by improved artificial potential field method

Fig.15

Input movement variables of virtual pilot

Fig.16

Desired trajectory and error in pure trajectory tracking

Fig.17

Comparison of error of adaptive Monte Carlo localization method and other methods

Fig.18

Relationship between backstepping control effect and parameter selection

Fig.19

Ideal movement trajectory design of follower

Fig.20

Follower error metric versus time

Tab.2

Track time in three directions of robot follower