A Formation Control Approach Considering Rollover Avoidance for Two-wheeled Mobile Agents

In this paper, the formation control problem is considered for two-wheeled agents, and both the control input constraint problem and the rollover problem due to two-wheel driving are considered. We design the distributed distance-based control law under an undirected and a directed perceptual topology graph, respectively. Our proposed control method does not require a global coordinate system, and each agent only needs to use its local coordinate system. Finally, we provide some simulation results to verify the effectiveness of the formation control method proposed in this paper.