Cascaded formation control using angle and distance between agents with orientation control (part 2)

In this paper and its companion paper [1], multi-agent formation control with obstacle collision avoidance for angle-distance-based formations with orientation control is considered. We propose an approach that uses information about the angle and distance between agents to achieve a leader-follower formation. First, we provide cascaded control laws with collision avoidance for groups of agents with unicycle models and prove the asymptotic stability of the formation. The non-holonomic unicycle model includes the vehicle dynamics. Second, the proposed control law is combined with displacement-based formation control. The shape of the formation is controlled by distance-angle-based formation control and the orientation of a group of agents converges to the desired orientation by a displacement-based control law. Simulation results are presented to illustrate the proposed controllers.