“…In recent years, the wheeled mobile robot (WMR) has received much attention due to its many practical applications, which is widely used in various aspects, such as search and rescue [1], multi-robotic formation [2,3], industrial applications [4,5], military operations [6,7], and so on. These applications require the mobile robot to move autonomously and carry out a variety of automated tasks which include trajectory tracking, obstacle avoidance, formation control, etc.…”