  In this paper,we design a formation control systrm for multi-unmanned ground
vehicles(UGV) from the prospective of path planning and path tracking.The
master-slave control is adopted by electing out a main vehicle to address the
problem of possible accumulation,tranmission and amplification of errors.In the
process of formation transformation,we first generate an expected path by
combing the methods of dynamic window and potential energy field.Then a path
tracking algorithm based on Hermite curve is adopted to make the formation
transformation process more stable and accurate.Finally,the evaluation system
of the formation control system is constructed,which combines the expected
position,the actual position,the expected speed, the actual speed and the
actual acceleration,giving an evalutaion on the performance of the formation
transformation,response of the formation driving process and the performance of
the formation stability.
