Rigid Geometry Formation Subject to Visibility Constraints Using Heading Angle Correlation Based on Leader-Follower System
Zhongchao Liang, Zijian Wang, Zhongguo Li, Jun Yang · IEEE Transactions on Automation Science and Engineering · 2025
This article proposes a tracking model for non-holonomic constraint robots, enabling the realization of leadersteered rigid geometry formations. By employing cameras and local leader-based approaches, the challenge posed by traditional separation-bearing control methods, which are incapable of establishing rigid formation for both translational and rotational control, is resolved. In addition, to maintain the connectivity of the sensing topology, the field-of-view (FOV) constraints of the on-board cameras are integrated into the controller design. A conversion approach is used to translate the FOV constraints into a rigid geometry formation. Additionally, there is a trade-off between visibility constraints and the leader-steered rigid geometry formation, particularly when the trajectory of the global leader has significant curvature. To address this problem, a continuously smooth transition function is employed. Ultimately, a fixedtime distributed control protocol and distributed observers are developed to realize the formation framework. Experimental results demonstrate that the proposed control protocol effectively achieves rigid geometric formations and satisfies FOV constraints.