Trajectory Tracking Design of Multi-robot Formation Based on Leader-Follower

Abstract

Trajectory tracking error of Multi-robot formation is easily caused by external environment interference. To address this issue, this paper introduces a control method based on consistency. First, the trajectory tracking controller of leader robot is designed based on back-stepping. Second, a stable communication topology is designed. Accordingly, the formation motion can be reset quickly after being disturbed by obstacles and outside world. Consequently, stability of the formation motion can be maintained, which enables the robot formation to track the expected trajectory. Finally, its effectiveness is verified by numerical simulation. The results show that our approach realizes Multi-robot formation with accurate trajectory tracking control.