With the consideration of connectivity preservation in the flocking control of nonholonomic mobile robot swarm,
an optimal flocking algorithm based on local information is proposed. The motion to the center of the minimal circumcircle
can help the individual to preserve the global connectivity of position topology and confirm the cohesion of the nonholonomic
robot swarm. Then the angle control is combined with Bezier curve to plan the individual’s path, and PSO algorithm is used
to find the optimal target angle which satisfies the strength threshold of the path to fulfill the angle alignment of the robot
swarm. Finally, the collision avoidance strategy is given.