Implementation of Coordinated Circular Motion for Two Mobile Robots Based on Safe Control

Traditional ground mobile robots have been widely used in various scenarios. However, the complex environment and its own mechanical structure make its movement limited. Based on the traditional Dubins car model, this article constructs multiple Dubins car collaborative motion models. We use the control Lyapunov function, control barrier function, and quadratic programming (CLF-CBF-QP) to design corresponding control constraints for different stages of the collaborative motion. This can ensure the self-reconstruction characteristics of the collaborative motion. Meanwhile, we conduct simulation experiments to verify the feasibility of the CLF -CBF -QP control algorithm for collaborative motion control.