This paper presents a leader-follower formation control of multiple mobile robots by position-based method using a fisheye camera. A fisheye camera has a wide field of view and recognizes a wide range of objects. In this paper, the fisheye camera is first modeled on spherical coordinates and then a position estimation technique is proposed by using an AR marker based on the spherical model. This paper furthermore presents a method for estimating the velocity of a leader robot based on a disturbance observer using the obtained position information. The proposed techniques are combined with a formation control based on the virtual structure. In this paper, the formation controller and velocity estimator can be designed independently, and the stability analysis of the total system is performed by using Lyapunov theorem. The effectiveness of the proposed method is demonstrated by simulation and experiments using two real mobile robots.

中文翻译：

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基于位置的鱼眼相机视觉伺服方法移动机器人主从编队控制

本文提出了使用鱼眼相机通过基于位置的方法对多个移动机器人进行领导者-跟随者编队控制。鱼眼相机具有广阔的视野，可以识别多种物体。在本文中，首先在球面坐标上对鱼眼相机进行建模，然后使用基于球面模型的AR标记提出了位置估计技术。本文还提出了一种使用所获得的位置信息基于扰动观测器来估计领导机器人速度的方法。所提出的技术与基于虚拟结构的编队控制相结合。本文可以独立设计编队控制器和速度估计器，并利用李亚普诺夫定理对整个系统进行稳定性分析。通过使用两个真实移动机器人的仿真和实验证明了所提出方法的有效性。