Distance-based Leader-Follower Formation Control of Mobile Robots Using Relative Target Positions

Abstract

In distance-based formation control, an approach uses relative target positions of agents to achieve the desired formation shape. The relative target position consists of the desired distances and relative positions of the adjacent agents. This paper proposes leader-follower control laws using the relative target positions for an integrator's multiagent system in the plane. This paper gives a static control law that uses relative target positions and their change rate. Since the proposed control law is sensitive against disturbances, this paper also proposes a dynamic control law using relative target positions. These control laws are available to two-wheels mobile robots that have nonholonomic constraints. Numerical examples illustrate the effectiveness of the proposed formation control laws.