A Multi-Agent Formation Control Method Based on Bearing Measurement

A method of designing and controlling formation configuration based on bearing measurement information of adjacent agents is proposed, in order to solve the problem of difficulty on improving the multi-agent formation control accuracy under the condition of inaccurate positioning. According to the relationship between geometric configuration and the angle between vertices, a method is proposed to define the expected configuration of formation by using the angles between agents. On this basis, a control method is designed to converge the multi-agent formation to the desired configuration only using the bearing measurement information of the adjacent agents. A Lyapunov function is designed to prove the asymptotic stability of the formation control law. The simulation results show that the multi-agent formation can be controlled only by bearing measurement information, which verifies the effectiveness of the proposed method.