Аннотация
The task of keeping a specific geometric configuration while following a designated path is common in various fields that involve autonomous robots. When done correctly, this approach can result in several advantages, including a reduction in system costs and an increase in system reliability and efficiency, while maintaining the adaptability and flexibility of the system. The concept of maintaining a particular geometric pattern during motion is frequently utilized in different scenarios. For example, unmanned military vehicles must maintain a particular formation to explore and cover terrain during missions. Another example is in “Smart Highways,” where the traffic system's capacity can be enhanced significantly by having vehicles move in groups at the same speed while maintaining a certain distance between them. This research presents an algorithm that allows a group of self-governing mobile robots to move while maintaining a specific geometric structure. A behavior-based control algorithm is advanced to regulate the movement of these systems. The coordination of the robots within the system is accomplished through the implementation of a leader-follower technique, with virtual leader.