Leader-Follower System in Convoys:: An Experimental Design Focusing on Computer Vision

Abstract

Many modern-day technologies rely on Global Positioning System (GPS) for navigation and location services. Although, in some instances GPS it is not always the most preferred method especially in places where the coverage is lacking, and where privacy is a concern. In the last few years, alternative technologies to GPS systems have been developed and are available not only to enterprises but to consumers as well. This paper presents an idea on how a convoy of vehicles can establish and maintain a leader-follower connection between themselves by utilizing Computer Vision Technology and Received Signal Strength Indicator (RSSI) via wireless low-power networks. The proposed system is to consists of three vehicles, a leader vehicle being controlled by an operator via Bluetooth, and two follower vehicles equipped with DFRobots' Romero V2, BLE Boards, and XBee modules for RSSI navigation. The computer vision system will utilize ZED Stereo Camera for image processing and the Robotic Operating System (ROS). The system will be independent of GPS allowing the operation in environments where GPS is unavailable or unpermitted. The proposed system can be utilized in surveillance missions, rescue missions, and it can serve as a backup to other leader-follower systems.