Leader-Follower Formation Control of Mecanum-Wheeled Mobile Robots with Dynamic Compensation under Field-of-View Constraints

This paper addresses the leader-follower formation control problem of Mecanum-wheeled mobile robots under field-of-view (FOV) constraints and proposes an image-based visual servoing (IBVS) control method with dynamic compensation capabilities. A vision-based controller is designed using camera image information to ensure that the follower robot’s visual feature vector rapidly converges to the desired value while maintaining visibility constraints. First, the kinematic and camera models of the Mecanum-wheeled robot are established, and the image error and transformation error are defined. Second, a controller is designed based on the dynamic characteristics of the errors. Finally, the global uniform ultimate boundedness of the proposed controller is proven using Lyapunov stability theory, ensuring the achievement of formation control objectives under FOV constraints. Simulation results demonstrate the effectiveness of the proposed controller, showing superior performance in trajectory tracking, error convergence, and Mecanum-wheel motion characteristics. This method provides a viable solution for multi-robot formation control in complex environments.