Path parameters consensus based formation control for multiple mobile robots

This paper addresses the problem of designing distributed feedback laws to fore the outputs of mobile robots to follow geometric paths while holding a desired formation pattern. The solution to formation problem, unfolds in two basic parts. Firstly, a path following control law based on Lyapunov and backstepping is designed out to drive each robot to its desired path regardless of the temporal speed profile adopted. Secondly the path parameters of each assigned path are adjusted so as to synchronize their positions along the path, thus achieving coordination, while making the formation as a whole travel at a given speed. The control strategy proposed only need robots communicate the information of path parameter with each other and the information flow is small and satisfies with a practical standpoint. A formation of multiple robots simulation platform is constructed and the simulation results illustrate the performance of the derived controller.