Modeling and Controller Design for Multiple Mobile Robots Formation Control

This paper investigates the leader following based formation control of multiple nonholonomic mobile robots. We present a new kinematics model for the leader-follower system using Cartesian coordinates rather than the commonly used polar coordinates. The advantage of this model leads to the derivation of a controller free of possible singularity points that happen when using polar coordinate representation. Based on this new model and input-output linearization approach, a stable controller is derived. Simulation results are included to demonstrate the feasibility of the presented model and controller