Formation tracking control of unicycle-type mobile robots

A constructive method is presented to design cooperative controllers that force a group of N unicycle-type mobile robots with limited sensing ranges to perform desired formation tracking, and guarantee no collisions between the robots. Robot physical dimensions and dynamics are considered in the control design, p times differential bump functions are introduced and incorporated into novel potential functions for control design. Despite the robot limited sensing ranges, no switchings are needed to solve the collision avoidance problem