Research On Pan/tilt Control Strategy For Visual Tracking

With the rapid development and progress of information technology,system evolving to the intelligent direction is becoming a trend.Active vision is an important part of the intelligent system.The primary purpose of active vision tracking is to obtain high quality target image information.Active camera is an important device to acquire the target image,in which the PTZ rotation control performance has an important impact on the overall effect of visual tracking system.The maneuvering characteristics of the target motion and the noise characteristics of the visual measurement signal are two main factors that affect the tracking performance of the PTZ rotation control.Firstly,adaptive tracking filter algorithm,which is usually used to track the maneuvering target,is used in the reference PTZ angle trajectory signal processing in this paper.On the one hand,it can effectively filter out the noise signal in the track,and reduce the tracking shake of the controller.On the other hand,it can not only acquire the estimated value and the forecast value of the target's current state in real time,but also identify the target's movement model at the present stage,and in which,all of the information can be used to guide the PTZ controller to adjust the control strategy in real time to improve the tracking performance of complex trajectories.Secondly,the multi-model control idea is used to adaptively adjust the PTZ tracking control strategy.The multi-model adaptive PID tracking control law based on the model linear weighting combination and the multi-model adaptive state feedback tracking control law based on the model switching strategy are discussed in this paper.And further for the system disturbance suppression problem,an active disturbance rejection trajectory tracking law based on the dynamic compensation linearization and expansion state observer is also discussed.Finally,for the PTZ scheduling problem,which is how to decide the order of the target be tracked in the static multi-target tracking and motorial multi-target tracking scene,the accuracy formal solution and approximate form solution of the problem is discussed by translating them into the corresponding classic TSP and dynamic TSP.And further considering the actual target tracking field is limited,the corresponding constraint dynamic TSP model and related solutions are discussed.The tracking filter method and its adaptive tracking control law proposed in this paper are simulated on a turntable model driven by a DC servo motor.The results showed that the method can effectively improve the tracking performance of the complex trajectory.And the reasonable target tracking order has enhanced the overall tracking effect of the dynamic target flow by introduce the PTZ scheduling strategy to the multi-target tracking problem.