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Autonomous ground vehicles have been designed for the purpose of that relies on ranging and bearing\udinformation received from forward looking camera on the Formation control . A visual guidance control\udalgorithm is designed where real time image processing is used to provide feedback signals. The vision\udsubsystem and control subsystem work in parallel to accomplish formation control. A proportional\udnavigation and line of sight guidance laws are used to estimate the range and bearing information from the\udleader vehicle using the vision subsystem. The algorithms for vision detection and localization used here\udare similar to approaches for many computer vision tasks such as face tracking and detection that are\udbased color-and texture based features, and non-parametric Continuously Adaptive Mean-shift algorithms\udto keep track of the leader. This is being proposed for the first time in the leader follower framework. The\udalgorithms are simple but effective for real time and provide an alternate approach to traditional based\udapproaches like the Viola Jones algorithm. Further to stabilize the follower to the leader trajectory, the\udsliding mode controller is used to dynamically track the leader. The performance of the results is\uddemonstrated in simulation and in practical experiments

Leader Follower Formation Control of Ground Vehicles Using Camshift Based Guidance