Formation Control and Path Planning of Two Robots for Tracking a Moving Target

Abstract

This paper addresses the dynamic path planning for two mobile robots in unknown
environment with obstacle avoidance and moving target tracking. These robots must form a
triangle with moving target. The algorithm is composed of two parts. The first part of the
algorithm used for formation planning of the robots and a moving target. It generates the
desired position for the robots for the next step. The second part is designed as the path
planning for mobile robots. In this part desired trajectory of the robots for reaching the
desired position of formation is generated. The potential field method is used to path
planning for the robots .This method enables the robot to achieve these tasks: to avoid
obstacles, and to make ones way toward its new position. Finally, the effectiveness of the
proposed algorithm is demonstrated through simulations.

Keywords


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