Formation Tracking for Multi-UGV System with Collision Avoidance via Improved Potential Field

In this paper, the time-varying formation tracking and collision avoidance problems for multi-unmanned ground vehicle (UGV) system which consists of omnidirectional vehicles are investigated. Firstly, the models of omnidirectional vehicle and multi-UGV system are introduced. Secondly, an improved potential field-based strategy is designed to eliminate local minima and deadlock state in collision avoidance. Then a formation tracking control protocol is presented. It is proven that the given formation tracking can be achieved by the proposed method according to Lyapunov-based theory. Finally, corresponding simulations are provided.