Hybrid Formation Control Approach for Non-Holonomic Mobile Robots

This paper presents a hybrid formation controller approach for non-holonomic mobile robots. This approach is based on the stable switching between a stable leader-following formation controller and an orientation controller. The switching attempts to maintain low values of formation errors during specific leader movements that otherwise will produce a significant increment on such errors. Experimental results on commercial unicycle-like mobile robots are provided to show the feasibility and performance of the proposed control strategy. Keywords— Non-Holonomic, Mobile Robots, Formation Control, Multiple Lyapunov Functions.