Adaptive Formation Strategy for Enclosing and Tracking a Mobile Target with Motion and Field of View Constraints

This paper introduces a system developed to tackle the challenge of enclosing and tracking a moving target in multi-robot systems, taking into account motion and field of view (FOV) constraints. Initially, a method utilizing relative position measurement is proposed. Following this, a reference trajectory is crafted to adhere to the motion and FOV constraints. Finally, considering the uncertainty in mobile robots and incorporating the prescribed performance bound (PPB) technique, adaptive tracking control solutions are devised. Experimental results show that the robots efficiently follow the designated reference trajectory, ensuring guaranteed transient performance for position and direction tracking errors, complying with motion and FOV constraints, and achieving swift enclosure and tracking of target objects.