Distributed Formation Control and Obstacle Avoidance of Nonholonomic Mobile Robots with Unknown Orientation

Distributed Formation Control and Obstacle Avoidance of Nonholonomic Mobile Robots with Unknown Orientation | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Distributed Formation Control and Obstacle Avoidance of Nonholonomic Mobile Robots with Unknown Orientation Siqi Wang, Heng Wang, Weiwei Che, Qing Li This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-3427588/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 5 You are reading this latest preprint version Abstract This paper studies the leader-following formation control problem for a group of nonholonomic mobile robots. Different from existing literature, the orientation of each robot is not required to be known, whose accurate value is usually difficult or expensive to obtain via direct measurement. A nonlinear observer is proposed to estimate the orientation of each robot, based on which an obstacle-avoidance constraint using observer-based control barrier function (CBF) is presented, such that the formation problem is converted into a constrained quadratic program (QP), and the desired formation is guaranteed with both static and dynamic obstacles being around. In addition, in order to make the state information of the leader be available to each follower, a new adaptive distributed observer is developed, which eliminates the requirement for leader's acceleration, and avoids the system chattering. Finally, simulation examples and comparisons are provided to validate the effectiveness of the proposed method. Distributed formation control orientation estimation obstacle avoidance observer-based control barrier function. Full Text Cite Share Download PDF Status: Under Review Version 1 posted Editorial decision: Reject after review 26 Mar, 2024 Reviewers agreed at journal 21 Oct, 2023 Reviewers invited by journal 15 Oct, 2023 Editor assigned by journal 12 Oct, 2023 First submitted to journal 10 Oct, 2023 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-3427588","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":240205671,"identity":"bbed1abc-a4ab-4fc1-9c6c-4273fdca3dc0","order_by":0,"name":"Siqi Wang","email":"","orcid":"","institution":"University of Science and Technology Beijing","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Siqi","middleName":"","lastName":"Wang","suffix":""},{"id":240205672,"identity":"c1804593-6486-4d35-863c-57df71288db1","order_by":1,"name":"Heng Wang","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA50lEQVRIiWNgGAWjYBACAxiDH4iZgZixgWgtkg0MjM2kaTE4QKwWc/bew695au7Ybb6R/vxxAYON7IYDzM8e4NNi2XMuzZrn2LPkbTdyDJtnMKQZbzjAZm6AT4vBjRwz4xy2w8lmN3IYm3kYDiduOMDDJoFXy/03QC3/Dicbz0h/CNTynwgtN3iMH+e2HbYzkEgwBGo5QISWMzlmzH/7DidInHljOHuGQbLxzMNsZvi1HD9j/HHGt8P2/O3pDz4XVNjJ9h1vfoZXCxCAnZHYADGBAZIGCADmD0DCnrC6UTAKRsEoGLEAAH5yTmYIl8MeAAAAAElFTkSuQmCC","orcid":"https://orcid.org/0000-0002-4408-9153","institution":"University of Science and Technology Beijing","correspondingAuthor":true,"submittingAuthor":false,"prefix":"","firstName":"Heng","middleName":"","lastName":"Wang","suffix":""},{"id":240205673,"identity":"883dfcf7-5162-4e26-ae52-20399881e623","order_by":2,"name":"Weiwei Che","email":"","orcid":"","institution":"Qingdao University","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Weiwei","middleName":"","lastName":"Che","suffix":""},{"id":240205674,"identity":"4d6073d2-2972-4ce2-946f-114312ffab70","order_by":3,"name":"Qing Li","email":"","orcid":"","institution":"University of Science and Technology","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Qing","middleName":"","lastName":"Li","suffix":""}],"badges":[],"createdAt":"2023-10-10 13:14:37","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-3427588/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-3427588/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":44756922,"identity":"e3ff4219-136d-487f-8c0b-2ca769d5774c","added_by":"auto","created_at":"2023-10-17 06:44:58","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":4936995,"visible":true,"origin":"","legend":"","description":"","filename":"DistributedFormationControlandObstacleAvoidance.pdf","url":"https://assets-eu.researchsquare.com/files/rs-3427588/v1_covered_70826d86-7ae1-4b72-8bfa-dbbea6436e9b.pdf"}],"financialInterests":"","formattedTitle":"Distributed Formation Control and Obstacle Avoidance of Nonholonomic Mobile Robots with Unknown Orientation","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"nonlinear-dynamics","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"nody","sideBox":"Learn more about [Nonlinear Dynamics](https://www.springer.com/journal/11071)","snPcode":"11071","submissionUrl":"https://submission.nature.com/new-submission/11071/3","title":"Nonlinear Dynamics","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false},"keywords":"Distributed formation control, orientation estimation, obstacle avoidance, observer-based control barrier function.","lastPublishedDoi":"10.21203/rs.3.rs-3427588/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-3427588/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eThis paper studies the leader-following formation control problem for a group of nonholonomic mobile robots. 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