Formation control of nonholonomic mobile robots

Abstract

In this paper, formation control of a group of nonholonomic wheeled robots was considered. By introducing a unified error of the formation and trajectory tracking, state feedback control laws are proposed for formation control with a desired trajectory. Graph theory and Lyapunov theory are used in the control design. After that, by introducing observers, output feedback control laws are also proposed for the formation control. Simulation study shows the proposed controllers are effective.