Nonholonomic mobile robots cooperative control for target capturing

For N unicycles moving in formation, a cooperative control strategy for target capturing including the steering angle regulation problem is proposed in this paper. The stabilizing method is based on LaSallepsilas invariance principle and ensures, in the 2D space, the target capturing. The method does not require motion planning. Hence, the convergence to the desired attractive set surrounding the target is asserted only by the control. Being given a desired attack angle for each entity (agent) when surrounding the target, the proposed cooperative control law permits to achieve this goal. The stability of the formation is realized when all unicycles converge to a certain attractive set.