Formation Control and Path Planning of Two Robots for Tracking a Moving Target

This paper addresses the dynamic path planning for two mobile robots in unknownenvironment with obstacle avoidance and moving target tracking. These robots must form atriangle with moving target. The algorithm is composed of two parts. The first part of thealgorithm used for formation planning of the robots and a moving target. It generates thedesired position for the robots for the next step. The second part is designed as the pathplanning for mobile robots. In this part desired trajectory of the robots for reaching thedesired position of formation is generated. The potential field method is used to pathplanning for the robots .This method enables the robot to achieve these tasks: to avoidobstacles, and to make ones way toward its new position. Finally, the effectiveness of theproposed algorithm is demonstrated through simulations.