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A RECEDING-HORIZON FORMATION TRACKING CONTROLLER WITH LEADER-FOLLOWER STRATEGIES

Abstract This paper presents a receding-horizon leader-follower (RH-LF) controller for addressing the formation control problem of multiple nonholonomic mobile robots. The issues to be investigated include separation, bearing, and orientation deviation control between the leader and the followers, where the orientation deviation control is especially important to control precision. After the leader-follower formation problem is posed to a formation tracking problem, a receding-horizon formation tracking controller is proposed, which guarantees asymptotic convergence of the formation tracking error to zero. Simulations are performed to verify the effectiveness of the proposed control strategy.