Coordinated trajectory tracking for a group of unicycle mobile robots

We propose a nonlinear control for coordinated trajectory tracking of unicycle mobile robots with collision avoidance ability. The proposed algorithm guarantees global asymptotic tracking of the reference trajectories of all individual robots. The coordinated movement is achieved by means of mutual coupling between robots. The stronger the coupling are, the better robustness in keeping the coordination in the presence of perturbations. Collision avoidance algorithm using an artificial potential field is introduced to increase the overall performance. The proposed coordinated trajectory control algorithm has been successfully validated in real-time experiments.