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<p>This manuscript introduces a novel approach for the consensus formation control problem of nonholonomic vehicles. A key distinction is its guarantee of consensus not only in position but also in orientation for all vehicles. A significant challenge during the formation process is the high risk of collision between vehicles. To address this problem, the proposed scheme employs an edge-weighted strategy, which allows the formation to reshape dynamically to prevent collisions by adjusting the edge weights. A proportional-plus-damping injection controller is designed, incorporating a term for persistent excitation to handle nonholonomic constraints. The stability of the complete system is evaluated using Lyapunov’s method. Simulation results are provided to support the theoretical conclusions.</p>

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Collision-Free Formation Control of Mobile Robots with Nonholonomic Constraints

  • 期刊论文

  • 发表日期：

    2026年7月7日

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  • Guillermo Obregón-Pulido,
  • Gualberto Solís-Perales,
  • Tonatiuh Hernandez,
  • Jesus Hernandez-Barragan

摘要

This manuscript introduces a novel approach for the consensus formation control problem of nonholonomic vehicles. A key distinction is its guarantee of consensus not only in position but also in orientation for all vehicles. A significant challenge during the formation process is the high risk of collision between vehicles. To address this problem, the proposed scheme employs an edge-weighted strategy, which allows the formation to reshape dynamically to prevent collisions by adjusting the edge weights. A proportional-plus-damping injection controller is designed, incorporating a term for persistent excitation to handle nonholonomic constraints. The stability of the complete system is evaluated using Lyapunov’s method. Simulation results are provided to support the theoretical conclusions.