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In this paper, we propose a new nonlinear cooperative steering control to solve the formation control problem for multiple mobile robots with nonholonomic constraints. By using a new contraction mapping method, it is rigorously proved that the proposed cooperative formation control is asymptotically stabilizing under the condition that the sensing/communication network among robots is sequentially complete. Simulation results are included to illustrate the effectiveness of the proposed control.
Date of Conference: 17-20 June 2012