Hybrid dynamic formation control for nonholonomic mobile robots

According to the characteristics of the ground mobile robots, a formation control method for multi-robot system is proposed. We have studied hybrid formation control problem with the two different kinds of nonholonomic mobile robots in the 3d terrain environment. First, using the leader-follower method, the follower robot´s trajectory tracking model is established in the three-dimensional terrain environment. Then via the Lyapunov function, the controller of the trajectory tracking system is constructed. And through estimating the leader robot´s linear velocity and angular velocity, the hybrid formation control method for the different kinds of ground mobile robots is realized. Finally, three groups of simulations in the 3d environment are provided, verifying the effectiveness of the proposed method.