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This paper focuses on the control of two self-driven vehicles (leader–follower) in a multi-obstacle environment, while maintaining formation. The acceleration-based control input design governs the overall movement and control of the rovers. This is accomplished through the application of APF functions that support the leader robot to reach the desired target while avoiding obstacles and maintaining formation. The Lyapunov theorem was used for the control design of the leader and follower vehicles. An effective mathematical model was designed and run through the MATLAB software for simulation verification. The simulation results obtained illustrate the behavior of the leader–follower vehicles with respect to the controllers designed. Therefore, this paper looks at the efficiency of the vehicles to converge at a predefined target, from random points in a predefined workspace, while avoiding fixed and moving …