Bearing-angle-based circular formation control of unicycles with arbitrary phase allocation

The circular formation control problem of multiple unicycles with arbitrary phase allocation is investigated so as to complete the formation task of specific requirements. With an estimation of the unknown position of one target by the bearing measurements only, a novel circular motion control algorithm of unicycles is designed by combining the phase allocation algorithm, and then a customised phase allocation circular formation control strategy is obtained. Theoretical analysis and simulation results demonstrate the effectiveness of the proposed approach.