Multi-robot navigation-following control method based on linear formation mode

The invention relates to a multi-robot navigation-following control method based on a linear formation mode, and the method specifically comprises the following steps: S1, building a centralized control multi-robot system, and forming a navigation (transportation)-following (picking)-following (transportation) type operation mode; s2, acquiring pose and motion state data of each robot through a navigation sensor; s3, the host commands the piloting robot to go to the target point and generates an incremental target path; s4, an artificial potential field method and a pure tracking algorithm are coupled, according to the incremental target path, the picking robot tracks the pilot robot, and the following transport robot tracks the picking robot; s5, each robot performs dynamic obstacle avoidance through the laser radar in the driving process; according to the multi-robot navigation-following control method based on the linear formation mode provided by the invention, the tracking speed of the following robot ca