Virtual-Head Robot Tracking and Three-Point l-l Control for Multiple Mobile Robots

In the context of robotic formation control, the commonly-used virtual robot tracking combined with l-l control has limitations in the establishment of a line formation, the possibility of collision between robots, and the singularity cases involved. This paper presents a new approach called the virtual-head robot tracking and three-point l-l control incorporated with a reactive control scheme. The proposed approach, tested through extensive simulations, can demonstrate line formations of a group of mobile robots with singularities alleviated and inter-robot collision completely avoided