Formated Navigation of Mobile Robots with Obstacle Avoidance

This paper presents a formated navigation with obstacle avoidance in which a modified leader-follower technique is combined with reactive collision avoidance behaviors. This paper indicates a couple of problems in which the obstacle avoidance is embedded in formated navigation: one is the singularity of the leader robot on the tracking control and another is the avoidance behavior of the follower robot. This paper proposes techniques for solving them and demonstrates the effectiveness in simulation and experiment