Formation control of dynamic nonholonomic mobile robots with curvature constraints via potential functions

In this paper a formation control for dynamic nonholonomic mobile robots with curvature constraints and unknown dynamic parameters is proposed. The control scheme is based on a saturated potential function which makes possible the design of decentralized formation controls scheme and avoids agents collisions considering its dimensions. For each agent, a cascaded control strategy combines a controller which takes into account its dynamic, and a kinematic control, leading to an overall globally stable system.