This paper proposes a leader-following formation control strategy for a group of car-like mobile robots. The leader follows its desired trajectory while the rest of robots are following the leader in a specified formation. The proposed formation control computes desired driving force and steering torque for each robot. The proposed control consists of a formation control scheme and a kinematic trajectory generation scheme for the leader of a group. The nonholonomic constraints of the car-like mobile robots are taken into account in the design of the formation control and trajectory generation scheme, in which the Lyapunov stability theorem and the loop shaping method are used as design tools. Under certain conditions, the proposed formation control guarantees asymptotic stability while keeping all internal signals bounded. The effectiveness of the proposed control has been shown with realistic computer simulations.

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