Leader Follower Formation Control of Ground Vehicles Using Camshift Based Guidance

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Provided by: Academy & Industry Research Collaboration Center
Topic: Software
Format: PDF
Autonomous ground vehicles have been designed for the purpose of that relies on ranging and bearing information received from forward looking camera on the Formation control. A visual guidance control algorithm is designed where real time image processing is used to provide feedback signals. The vision subsystem and control subsystem work in parallel to accomplish formation control. A proportional navigation and line of sight guidance laws are used to estimate the range and bearing information from the leader vehicle using the vision subsystem.
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