Intelligent Vision Based Unmanned Ground Vehicle Formation Control

Vaitheeswaran, SM and Gokul, M and Hemanth, K and Bharath, MK (2013) Intelligent Vision Based Unmanned Ground Vehicle Formation Control. In: International Conference on Intelligent Unmanned Systems , 25 Sept 2013, Jaipur, Rajasthan.

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Vehicle formation control using vision plays a vital role in the design of new control laws in order to reduce the complexity of the system. In the traditional approach, in formation control, using leader follower configuration, navigation is based on the location values transmitted by the leader. Though the method has advantages of increased range, the problems are fading, multipath reflection, Line of sight communication and the increased overhead when the number of followers increases. The present paper seeks to overcome the above problems using a simple vision based framework in real time in a leader-follower configuration. In order to reduce the processing overhead and reduce the number of sensors a simple vision based system is developed. The system consists of two parts (i) Vision system and (ii) control algorithm. The vision algorithm uses a simple color tracking mechanism .The control algorithm uses the relative distance and angular displacement between the leader and the follower. The effectiveness of the algorithms, is demonstrated for a convoy using autonomous control for the master and vision control for the follower.

Item Type: Conference or Workshop Item (Paper)
Subjects: ASTRONAUTICS > Space Communications, Spacecraft Communications Command & Tracking
Depositing User: Mrs SK Pratibha
Date Deposited: 16 Jun 2015 07:39
Last Modified: 28 Oct 2015 07:13

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