Formation control of mobile robots based on vector field with obstacle avoidance capability

In situations like search and rescue operations, collective movement of objects etc., multiple robots as formation can perform better than a single robot system. In this paper a Lyapunov theory based controller is designed for target tracking and later extended for achieving formation control of mobile robots. Thus it guarantees tracking errors asymptotically approach zero for any reference path. The path planning has been achieved using vector field framework. While in formation, the robots may encounter obstacles and obstacle avoidance has also been incorporated. This is achieved by modified vector field. With a similar strategy, collision avoidance has also been achieved. From extensive simulations it is seen that the mobile robots are capable of achieving different formations while tracking the given reference trajectory and safely avoids the obstacles in its way.