Leader-follower formation control of nonholonomic mobile robots

Anthony Alfaro, Antonio Moran Cardenas

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

8 Scopus citations


This paper presents the modeling, initialization, and control of nonholonomic mobile robots navigating with a leader-follower formation scheme, that must attain a planned formation. We use Ackerman's model of a four-wheel mobile robot, graph theory, I/O linearization, and linear approximation to control the dynamics of robot formation using sets of differential equations. These equations use the distance and the visibility angle between leaders and followers to determine how each robot will move. The stability analysis of the proposed control system is included along with computer simulations to validate the performance of the leader-follower formation.
Original languageSpanish
Title of host publication2020 IEEE ANDESCON, ANDESCON 2020
StatePublished - 13 Oct 2020
Externally publishedYes

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