Obstacle avoidance in leader-follower formation using artificial potential field algorithm

In this paper, a formation control method for two non-holonomic mobile robots is presented. The mobile robot formation achieved the goal while avoiding the obstacles. The control algorithm presented consists in 1) avoiding the obstacles using potential forces by the artificial potential field methodology and 2) the leader-follower technique for the formation approach. In the proposed methods, the leader of the formation plans the path applying the potential field algorithm and the follower maintains a desired distance and a desired bearing angle with respect to the leader. Moreover, the proposed algorithm avoid the local minimum problem in the formation, implying the leader will reach the goal without having to stop due to the equal forces of attraction and repulsion. The stability of the tracking problem was described using a Lyapunov function to validate the proposed method. Simulations results were showed in order to verify the theoretical method.