Leader-Follower Formation Control Based on Hybrid Formation Control Framework and Waypoint in Cone Method

This paper proposes a novel leader-follower robot formation based on relative motion states of robots. The follower robot calculates its waypoint by desired distance-angle d-β or desired distance-distance d-d. Since the robot's velocities are constrained, the proposed waypoint in cone method guarantees that the follower robot moves to its desired waypoint correctly. In order to form and maintain the formation of multiple robots, we use a stable tracking control method to control each robot. Finally, the simulation results based on the proposed approach show that the follower robot moves to its waypoint effectively to make a formation.