A Q-Learning-Based Parameters Adaptive Algorithm for Formation Tracking Control of Multi-Mobile Robot Systems

Figure 16

The tracking trajectories of the three followers and the virtual leader in Case B(a) The tracking trajectories of the 1st follower for the virtual leader. (b) The tracking trajectories of the 2nd follower for the virtual leader. (c) The tracking trajectories of the 3rd follower for the virtual leader.

(a)

(b)

(c)