Experimental Verification of the Leader-Follower Formation Control of Two Wheeled Mobile Robots with Obstacle Avoidance

In this work the experimental verification of the control of two wheeled mobile robots with differential configuration under a leader-follower formation is presented, where the leader performs the task of tracking a predefined trajectory, as well as, it is able to avoid obstacles and it sends information of the point-to-point trajectories reached to the follower mobile robot. The follower has the ability to estimate the trajectory of the leader robot only based on the information received from the leader, for arbitrary initial conditions. Experimental verifications with two wheeled mobile robots TurtleBot3 Burger illustrate the performance of the proposed technique, using the robot operating system (ROS) and Python.