Position-based visual servo control of leader-follower formation using image-based relative pose and relative velocity estimation

A position-based visual servo control strategy is proposed for leader-follower formation control of unmanned ground vehicles (UGVs). The proposed control law only requires the knowledge of a single known length on the leader. The relative pose and the relative velocity of the leader are estimated with respect to the follower in the follower reference frame. The relative pose and the relative velocity are obtained using a geometric pose estimation technique and a nonlinear velocity estimation strategy, respectively. A Lyapunov analysis indicates global asymptotic tracking of the leader vehicle, and simulation results are provided to illustrate the performance of the developed controller.