Leader-Follower Tracking with Collision Avoidance for Omni-directional Mobile Robots: Linear vs Homogeneous Controller

This paper deals with the leader-follower tracking control for two omni-directional mobile robots, the controller of the leader omni-directional mobile robot is unknown and the safe region is given. A linear controller is firstly designed for the follower omni-directional mobile robot such that the asymptotical stability is guaranteed. Based on the linear controller, a homogeneous controller is obtained, and the error system is guaranteed to be stabilized in finite-time. Compared with the linear controller, the homogeneous controller has the properties of faster convergence and better robustness. Furthermore, the convergence rate of the homogeneous controller can be simply tuned by properly selecting the homogeneity degree. The simulation results are given to illustrate the effectiveness of the designed controllers.