Reseaerch On Vision-based Target Tracking Control System

As the first robotic competition for shooting and confrontation in the world,RoboMaster has been attracting the attention of thousands of technology enthusiasts.In order to realize the automatic identification and aiming of moving targets by the RoboMaster,this paper takes the pan-tilt-zoom as the research object,designs and realizes a visual closed-loop target tracking control system based on the traditional target detection and visual tracking technology.T he main research contents are as follows:Firstly,the detection and identification method combined with color threshold segmentation and edge detection algorithm is used to realize the identification of moving targets.On the basis of the Camshift tracking algorithm,the Camshift and Kalman Filtering combined tracking prediction algorithm is designed.The experimental results verify the accuracy of the algorithm in the case of color interference and occlusion.Then,the firmware and hardware of the follower platform are designed,and the motion control board of the pan-tilt-zoom movement is designed based on STM32F417.The control board,pan-tilt-zoom and image processing terminal are connected to complete the construction of the the visual target tracking based position servo control system.Also the PID controller with boundary is designed,and the moving target pixel deviation obtained by the image processing terminal is used as the input of the controller,and the control command is output to the pan-tilt-zoom.Finally,the moving target tracking experiment was carried out on the experimental platform.The results show that the designed system has better target identification tracking effect and verifies the effectiveness of the system.