Circle Formation Control for Mobile Sensor Networks with Connectivity Preservation and Collision Avoidance

Formation control for mobile sensor networks with connectivity preservation and collision avoidance on a circle is solved in this paper. A distributed formation control law is developed for mobile sensors to realize connectivity preservation and collision avoidance by introducing potential function approaches. Then, it is proved via Lyapunov stability theorem that the proposed control law can fulfil the requirements of connectivity preservation and collision avoidance while achieving desired formation. Finally, a numerical example is presented to demonstrate the validity of the main results.