Formation of Two-Wheeled Mobile Robots Moving in the Task Space with Static Obstacles - Numerical Verification for Bounded Controls

This paper presents control algorithm for formation of multiple non-holonomic mobile robots. It combines persistent excitation trajectory tracking algorithm and collision avoidance based on artificial potential functions. The robots avoid collision with each other and static obstacles existing in the task-space. Stability analysis of the closed-loop system based on Lyapunov-like function is presented. Effectiveness of the proposed method is illustrated by simulation results. They include also case of bounded wheel controls.