  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. The algorithms for vision detection and localization used here are
similar to approaches for many computer vision tasks such as face tracking and
detection that are based color-and texture based features, and non-parametric
Continuously Adaptive Mean-shift algorithms to keep track of the leader. This
is being proposed for the first time in the leader follower framework. The
algorithms are simple but effective for real time and provide an alternate
approach to traditional based approaches like the Viola Jones algorithm.
Further to stabilize the follower to the leader trajectory, the sliding mode
controller is used to dynamically track the leader. The performance of the
results is demonstrated in simulation and in practical experiments.
