Leader-Follower Formation Tracking of Multiple Mobile Robots with Constant Leader Velocity

Abstract

This research presents a tracking formation by multiple mobile robots. The formation used is leader follower approach. Formation control is designed based on the robot kinematics model. Follower is controlled to track the position of the specified formation. Triangle shape is used to the goal formation. Experiments carried out with two scenarios. First, leader moves to a point with linear motion. Second, leader moves along the circular trajectory. Leader motion is constantly with the aim that the formation is rigidly formed while moving towards the goal. Experiments show that robots can perform and maintain formation while achieving goals.