Connectivity-maintaining obstacle avoidance approach for leader-follower formation tracking of uncertain multiple nonholonomic mobile robots

作者：

Highlights：

• A connectivity-maintaining obstacle avoidance strategy is developed.

• The guaranteed formation performance and connectivity maintenance are achieved.

• The stability of the proposed total system is analyzed mathematically.

摘要

•A connectivity-maintaining obstacle avoidance strategy is developed.•The guaranteed formation performance and connectivity maintenance are achieved.•The stability of the proposed total system is analyzed mathematically.

论文关键词：Connectivity-maintaining obstacle avoidance,Guaranteed performance,Leader-follower formation,Uncertain multiple nonholonomic mobile robots

论文评审过程：Received 13 July 2020, Revised 12 October 2020, Accepted 7 January 2021, Available online 13 January 2021, Version of Record 9 February 2021.

论文官网地址：https://doi.org/10.1016/j.eswa.2021.114589