Leader–Follower Formation Control in Cluttered Environments via APF-Based Reference Shaping and Variable-Structure Control

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Yusuf S. H., Alyoussef F., Al-Qadası Y. S. N., Mysorewala M. F., Mohiuddin M. B.

2026 18th International Workshop on Variable Structure Systems (VSS), Exeter, İngiltere, 27 - 30 Temmuz 2026, ss.1-6, (Tam Metin Bildiri)

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/vss69650.2026.11655830
  • Basıldığı Şehir: Exeter
  • Basıldığı Ülke: İngiltere
  • Sayfa Sayıları: ss.1-6
  • Kocaeli Üniversitesi Adresli: Evet

Özet

Leader–follower formation control is attractive for multi-robot systems due to scalability and limited communication, yet maintaining formation accuracy in cluttered environments is challenging under nonholonomic constraints, curvature variations, and obstacle-induced maneuvers. This paper presents a leader-follower formation-control framework for nonholonomic mobile robots that incorporates obstacle avoidance at the reference level. Here, an artificial potential field (APF) continuously reshapes leader-attached formation virtual targets, enabling collision-aware motion without interrupting the tracking structure. To improve tracking performance, a variable-structure proportional controller (VS-P) is proposed. It enhances the performance by switching between two predefined gain sets based on error dynamics. Simulations on lemniscate tracking in an obstacle-populated workspace show that VS-P reduces overall formation RMSE by 5.4% compared to a constant-gain P controller and yields modest improvements in leader-frame separation and bearing regulation while preserving comparable obstacle clearance.