For the formation control problem of the car-like mobile robot with longitudinal slip

a formation control algorithm is proposed based on the compensation of slip ratio and fuzzy logic.Firstly

the real velocity of the robot is acquired by sensors.And decrease the noise through filtering.Then the real velocity is compared with the input velocity signal to get the estimation of slip ratio

which represents the degree of slip.According to the leader-follower method

a formation control strategy with compensation of slip ratio is designed

and fuzzy logic is adapted to design controller parameters.Finally

simulations are designed in the Microsoft Robotics Developer Studio 4.The simulation results show the effectiveness of the presented method in many situations when the leading or following robot slips.