Leader-Following Formation Tracking Control of Nonholonomic Mobile Robots Considering Collision Avoidance: A System Transformation Approach

In this paper, the obstacle avoidance problem-based leader–following formation tracking of nonholonomic wheeled mobile robots with unknown parameters desired trajectory is investigated. First, under-actuated system transformed into a fully-actuated by obtaining an auxiliary control variable using transverse function. Second, introducing potential function for each obstacle, influence obstacles considered in tracking, and effect field on taken account error. Third, adaptive laws are designed to estimate trajectory. Fourth, results show that error respect actual position orientation can be arbitrarily small selecting appropriate design parameters. Finally, simulation examples used demonstrate proposed scheme effective.