TY - JFULL AU - Krishna S. Raghuwaiya and Shonal Singh and Jito Vanualailai PY - 2011/1/ TI - Formation Control of Mobile Robots T2 - International Journal of Mechanical and Mechatronics Engineering SP - 2696 EP - 2702 VL - 5 SN - 1307-6892 UR - https://publications.waset.org/pdf/11977 PU - World Academy of Science, Engineering and Technology NX - Open Science Index 60, 2011 N2 - In this paper, we study the formation control problem for car-like mobile robots. A team of nonholonomic mobile robots navigate in a terrain with obstacles, while maintaining a desired formation, using a leader-following strategy. A set of artificial potential field functions is proposed using the direct Lyapunov method for the avoidance of obstacles and attraction to their designated targets. The effectiveness of the proposed control laws to verify the feasibility of the model is demonstrated through computer simulations ER -