Formation path following control of unicycle-type mobile robots

This paper presents a control strategy for coordination of multiple mobile robots. A combination of the virtual structure and path following approaches is used to derive the formation architecture. The formation controller is proposed for the kinematic model of two-degrees of freedom unicycle- type mobile robots. The approach is then extended to consider formation controller for its complete dynamic model. The controller is designed in such a way that the path derivative is left as a free input to synchronize the robot´s motion. Simulation results with three robots, are included to show the performance of our control system.