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In this paper, a formation system of mobile robot based on vision location is designed. The system is composed of intelligent mobile robot, vision location computation, wireless communication system and formation control strategy. The global localization of the mobile robot is carried out by the camera, the circles of different sizes in the top of mobile robot are identified by computer, the image coordinates of each mobile robot are obtained and the number of the image coordinates of each mobile robot is given. After the coordinates and the number of each vehicle are obtained by the leader robot, the rest of the mobile robots are arranged in a corresponding shape by using wireless communication systems and formation control strategy.

Formation System of Mobile Robot Based on Vision Location