Abstract—This paper presents a collision-free navigation control algorithm for a fleet of mobile robots to traverse an unknown obstacle-ridden environment. The proposed leader–follower-based navigation rule guarantees that the robots maintain the minimum-allowed distance from the obstacles while in motion. In this algorithm, the leader plans the safest path based on the information received in each switching period, which results in fewer computations and fast motion. Computer simulation performed confirms the reliability and robustness of the proposed algorithm.