The invention discloses a dance formation self-organization control method based on a
robot group. The method comprises the following steps: S1, obtaining dynamic changes of light frequency, color and intensity through a spectrum camera; s2, judging an effective
light source and an invalid
light source, and removing the invalid
light source to form a target
light signal; s3, converting the optical
signal into a
digital signal through a photoelectric converter and a
digital signal processor, and extracting the characteristics of the
digital signal to form a characteristic instruction; s4, comparing the feature instruction with a predefined action matching
database in real time, and outputting a
robot action instruction; s5, analyzing the characteristics of the received digital
signal, predicting an action instruction at the next moment, and generating the next action instruction in advance; s6, generating a
robot action track by using a path planning
algorithm; and S7, adopting a distributed control strategy, dynamically adjusting the motion track, and completing dance arrangement. According to the invention, dance arrangement of the robot group is controlled through light, and diversity of dance of the robot group is realized.