Formation control for multiple mobile robots based on Leader-following schema

In order to describe the movement of multi-robot queue, the model of formation is defined in view of relative poses of multiple mobile robots. The idea of switching control is introduced based on leader-following schema. The front point and rear point of the axis of leading robot is determined as reference points by the following robot. The sub-controller is designed corresponding to the reference point so that the exponential stability of the system is realized. The condition of switching of two controllers is based on the sign of leading robot speed. By the application of the control method presented in this paper, the desired formation is not only realized, but also the movement of multi-robot queue is steadier. The results of simulation show the uniform movements are realized for multiple mobile robots.