Enclose and Track a Target of Mobile Robot with Motion and Field of View Constraints based on Relative Position Measurement

This paper presents a systematic design approach to address the challenge of enclosing and tracking a moving target in multi-robot systems while accounting for motion and field of view (FOV) constraints. Firstly, a reference trajectory is designed based on relative position measurement which also conforms to the motion and field of view constraints. Subsequently, considering the uncertainty of mobile robots, and combining prescribed performance bound (PPB) technique, an adaptive tracking solutions are designed to force the fleet of robots track and enclose the moving target. Experimental results demonstrate that the robots can efficiently track the provided reference trajectory while ensuring guaranteed transient performance of position and direction tracking errors, account for the motion and FOV constraints, achieve rapid enclosing and tracking of target objects.