Formation Control and Path Planning of Two Robots for Tracking a Moving Target

This paper addresses the dynamic path planning for two mobile robots in unknown environment with obstacle avoidance and moving target tracking. These robots must form a triangle with moving target. The algorithm is composed of two parts. The first part of the algorithm used for formation planning of the robots and a moving target. It generates the desired position for the robots for the next step. The second part is designed as the path planning for mobile robots. In this part desired trajectory of the robots for reaching the desired position of formation is generated. The potential field method is used to path planning for the robots. This method enables the robot to achieve these tasks: to avoid obstacles, and to make ones way toward its new position. Finally, the effectiveness of the proposed algorithm is demonstrated through simulations.