Robust adaptive formation control and collision avoidance for electrically driven non-holonomic mobile robots

This study proposes a robust adaptive formation controller for electrically driven non-holonomic mobile robots to achieve desired formation tracking and collision avoidance with static and moving obstacles. The projection algorithm is employed to estimate the time-varying velocities of the leader robot. The robust adaptive technique is adopted to deal with parametric uncertainties and external disturbances. Moreover, the avoidance function is used to avoid the collisions even though many obstacles exist within the detection region of the mobile robot. It is shown using Lyapunov stability theory that formation errors are uniformly ultimately bounded and collision avoidance is guaranteed. Simulations are included to illustrate the control method.