Rigid geometry formation subject to visibility constraints using heading angle correlation based on leader-follower system

This article proposes a tracking model for nonholonomic constraint robots, enabling the realization of leader-steered 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 fixed-time 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.<p></p>