Leader follower formation control of ground vehicles using dynamic pixel count and inverse perspective mapping

Vaitheeswaran, SM and Bharath, MK and Prasad, Ashish and Gokul, M (2014) Leader follower formation control of ground vehicles using dynamic pixel count and inverse perspective mapping. International Journal of Multimedia and its Applications, 6 (5). pp. 1-11.

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Official URL: http://dx.doi.org/10.5121/ijma.2014.6501

Abstract

This paper deals with leader-follower formations of non-holonomic mobile robots, introducing a formation control strategy based on pixel counts using a commercial grade electro optics camera. Localization of the leader for motions along line of sight as well as the obliquely inclined directions are considered based on pixel variation of the images by referencing to two arbitrarily designated positions in the image frames. Based on an established relationship between the displacement of the camera movement along the viewing direction and the difference in pixel counts between reference points in the images, the range and the angle estimate between the follower camera and the leader is calculated. The Inverse Perspective Transform is used to account for non linear relationship between the height of vehicle in a forward facing image and its distance from the camera. The formulation is validated with experiments.

Item Type: Article
Additional Information: Copyright for this article belongs to M/s. IJMR
Uncontrolled Keywords: Vision based range and angle measurement;Dynamic pixel count controller;Inverse mapping projection
Subjects: AERONAUTICS > Aircraft Communication & Navigation
Depositing User: Ms. Alphones Mary
Date Deposited: 29 Jul 2015 05:08
Last Modified: 29 Jul 2015 05:08
URI: http://nal-ir.nal.res.in/id/eprint/12265

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