Distributed Tracking Control and Obstacle Avoidance of Mobile Robots Over Event-Triggered Communication

This article studies the cooperative tracking control and obstacle avoidance problem for wheeled mobile robots (WMRs) under event-triggered communication. The dynamics of WMRs are considered first. To handle the constraint that only part of the robots can access the leader, the distributed state estimators are designed. Then, an event-triggered based tracking control and obstacle avoidance scheme is developed by utilizing a backstepping control technique and artificial potential field (APF). The stability of the closed-loop system is proved and Zeno behaviors are excluded. Finally, the simulation of three robots is implemented to illustrate the superiority of the presented scheme.