为了在各种队形下进行变换队形，本文将领航跟随者方法和基于行为的编队控制相结合，给出了一种新的混合编队控制方法。
It is not suitable to changing formation. In order to improve this approach, it is combined with the behavior-base approach.
该方法以行为抑制法作为系统的行为选择机制，三台机器人在无障碍物时可以队形保持，在有障碍物时可以自我避障或变换队形避障。
By using this approach, three Amigobot robots can maintain the formation while there is no obstacle, and avoid by themselves or change formation in obstacles.
该方法以行为抑制法作为系统的行为选择机制，三台机器人在无障碍物时可以队形保持，在有障碍物时可以自我避障或变换队形避障。
By using this approach, three Amigobot robots can maintain the formation while there is no obstacle, and avoid by themselves or change formation in obstacles.
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