The Research Of Control Method Of Self-tracking Target Vehicle

With the changing of international situation and counter-terrorism training's requirements,it put a higher request to the target vehicle's path in shooting training. Because the direction of the traditional moving target vehicle based on orbital is single, and the track is difficult to lay and brings ricochet hazard. If the target vehicle moves without track, it not only can adjust the distance of drone with the project's requirements, but olso can quickly change the moving line, which can achieve several moving mode to meet the needs of multidisciplinary shooting training.By the reasons above, a self-tracking moving target vehicle system has been researched by the paper,which is guided by ordinary ribbon or tape, The system sees the AVR microcontroller atmega128 as the master chip, and OV6620 camera module as the component of path information. Firstly, we can get path informations of the target vehicle by processing the images captured at the real-time, and then adjust the motot system to control the target vehicle move independently along the guided line with the speed and aim ordered.The system improved the traditional characteristics of the target motor, who can achieve self-tracking when the speed is no more than 2m/s and Curvature is less than 2m-1.It will be suitable for military, public security, armed police departments, and some special training ground for applications.The work finished in this paper is divided into three major parts,(1)The design of tracking program of self-tracking moving target vehicle, which including image acquisition module,decision and control module,motor drive module and control algorithm;(2) The image acquisition module,decision and control module,motor drive module and speed test module of self-tracking moving target vehicle were described detailed from hardware circuit and software programming;(3)Comprehensive functional test of the target vehicle. It researched the installation method of OV6620 camera,targeting locate algorithm and other module debugging methods...