Formation path following control of unicycle-type mobile robots

Jawhar Ghommam, Hasan Mehrjerdi, Maarouf Saad, Faiçal Mnif*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

141 Citations (Scopus)


This paper presents a control strategy for the coordination of multiple mobile robots. A combination of the virtual structure and path following approaches is used to derive the formation architecture. A formation controller is proposed for the kinematic model of two-degree-of-freedom unicycle-type mobile robots. The approach is then extended to consider the formation controller by taking into account the physical dimensions and dynamics of the robots. The controller is designed in such a way that the path derivative is left as a free input to synchronize the robot's motion. Simulation results with three robots are included to show the performance of our control system. Finally, the theoretical results are experimentally validated on a multi-robot platform.

Original languageEnglish
Pages (from-to)727-736
Number of pages10
JournalRobotics and Autonomous Systems
Issue number5
Publication statusPublished - May 31 2010


  • Adaptive control
  • Formation control
  • Nonholonomic robot
  • Path following
  • Virtual structure

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications


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