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

Table 1

Model parameters of the OMR.

Parameters	Definitions	Values
	Mass of the OMR	4.5 kg
	Moment of inertia	0.25 kg∗m^2
	Distance between the center of mass of the OMR and the intersection point of the symmetry axis of the OMR and the wheel axis	0.2 m
	Wheel radius	0.0635 m
	The distance between an actuated wheel and the symmetry axis	0.166 m