Research On Target Recognition And Tracking System Of Wheel-track Composite Mobile Platform Based On Machine Vision

The paper takes a wheel-track hybrid platform as research object and researches on the recognition and pan-tilt's tracking system of people target.The system captures image by using a camera fixed on the pan-tilt of unmanned platform,recognizes the people target by the processing of recognition algorithm,after which,the algorithm extracts the location information of the people target and sends the information to pan-tilt control system.In this way,the target is tracked.(1)The paper researches on the achievement and development trend of unmanned platform,Target recognition and Pan-Tilt system,and analyzes the studying focus of unmanned platforms in tracking the people target.(2)According to the requirements of target tracking and the existing wheel-track hybrid platform,a kinematic model of wheel and track is established.The designs of motor selection,control system,and other hardware are made for pan-tilt system.(3)People is selected as the target of recognition and tracking system,and features of the people target are analyzed.HOG&SVM is used for the people target recognition,and HOG features are used for improving the Camshift tracking algorithm,which improves the performance of people target tracking.According to the features of people,the YOLO2 algorithm is improved by changing the number of anchor box,and the recognition performance for the people target is improved.The people target is distinguished by adding weapon target recognition,and the algorithm is ported to the Ubuntu of Jetson TX2 platform.(4)According to the control requirements of target tracking by pan-tilt system,the paper designs a PID control algorithm based on STM32.According to the posture data of pan-tilt system given by gyro MPU6050,the angle data and electric current data given by motor,the pan-tilt system realizes three-closed-loop PID control of speed,position and electric current,and the stability of the two-axis pan-tilt control is significantly improved.(5)Tests are designed to measure the performance of the pan-tilt system from the perspectives of the speed angle data of the pan-tilt system in initialization and the movement of the pan-tilt system.Test results are analyzed by drawing curves.Another set of tests is designed for the armed people target tracking of pan-tilt system,and the performance of the pan-tilt is measured as well.