Adaptive fuzzy formation control for a nonholonomic robotic swarm

In this paper, artificial potential functions are used to design the formation control input for kinematic model of the robots and matrix manipulations are used to transform nonholonomic model of a differentially driven vehicle into equivalent holonomic one. The advantages of the proposed controller can be listed as robustness to input nonlinearity, external disturbances, model uncertainties and measurement noises. Simulation results are demonstrated for a swarm formation problem of a group of six unicycles, illustrating the effective attenuation of approximation error.