The leader-follower formation control of nonholonomic mobile robots

Artificial Immune Network-Based Multi-Robot Formation Path Planning With Obstacle Avoidance

“…The comparison with the stable tracking control method combining with RH tracking control method [9] validates the superiority of the proposed algorithm. Figure 2(a) shows the formation path planning trajectories where three robots switch from an equilateral State error convergence times of two follower robots with different algorithms are shown in Table 1.…”

“…Figure 2(a) shows the formation path planning trajectories where three robots switch from an equilateral State error convergence times of two follower robots with different algorithms are shown in Table 1. The table explains that the convergence time with the proposed algorithm is less than the algorithm in [9]. Follower robot 2 has the resultant force from virtual robot and leader robot in opening environment and it is far away from leader robot, the attraction from leader robot is smaller than follower robot 1, so its convergence time is longer than follower robot 1.…”

“…Based on the Barbalat's lemma [9], [20], V (E) = 0.5K 1 e 2 x + 0.5K 2 e 2 y ≥ 0, it has a lower bound,V (E) = −(K 1 e x − K 2 e y ) 2 ≤ 0 is a negative definite function and it is uniformly continuous about time t, so lim t→∞V (E) = 0, i.e., lim t→∞ − (K 1 e x − K 2 e y ) 2 = 0, so lim t→∞ e x = 0, lim t→∞ e y = 0.…”

“…The exchange of leadership is incorporated in the system to avoid obstacles in the follower path, but it raises the deadlocks between the robots. Dai and Lee [9] proposed a leader-waypoint-follower formation controller based on relative motion states of mobile robots. Stable tracking control method combines receding horizon (RH) tracking control method to form and maintain the formation.…”

Leader–Follower Formation Maneuvers for Multi-Robot Systems via Derivative and Integral Terminal Sliding Mode

“…Various investigations have been explored to achieve the coordination control of multiple robots. These investigations can be roughly classified into leader-follower formations [4][5][6][7][8], virtual structure mechanisms [9][10][11][12], graph-based approaches [13,14], and behavior-based methods [15,16].…”