Coordination of Multiple Robotic Vehicles in Obstacle-Cluttered Environments

In this work, we consider the motion control problem for a platoon of unicycle robots operating within an obstacle-cluttered workspace. Each robot is equipped with a proximity sensor that allows it to perceive nearby obstacles as well as a camera to obtain its relative position with respect to its preceding robot. Additionally, no robot other than the leader of the team is able to localize itself within the workspace and no centralized communication network exists, i.e., explicit information exchange between the agents is unavailable. To tackle this problem, we adopt a leader–follower architecture and propose a novel, decentralized control law for each robot-follower, based on the Prescribed Performance Control method, which guarantees collision-free tracking and visual connectivity maintenance by ensuring that each follower maintains its predecessor within its camera field of view while keeping static obstacles out of the line of sight for all time. Finally, we verify the efficacy of the proposed control scheme through extensive simulations.