Control of Two-wheeled Mobile Robots Moving in Formation

Abstract

This paper presents control algorithm for multiple non-holonomic mobile robots moving in formation. Method from Canudas et al. (1994) is used to track desired trajectory. In the new algorithm this approach is combined with collision avoidance. Artificial potential functions are used to generate repulsive component of the control. Stability analysis is based on Lyapunov-like function. Effectiveness of the presented method is illustrated by simulation results for a large formation of mobile platforms. Robots avoid collisions with each other and with static obstacles. Position and orientation reach values close to steady state in 50s.