International Journal of Advanced Culture Technology

The International Promotion Agency of Culture Technology (국제문화기술진흥원)
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OnBoard Vision Based Object Tracking Control Stabilization Using PID Controller

  • Mariappan, Vinayagam (Media IT Engineering, Seoul National Univ., 0f Science and Tech.) ;
  • Lee, Minwoo (Graduate School of Nano IT Design Fusion, Seoul National Univ., 0f Science and Tech.) ;
  • Cho, Juphil (Dept. of Integrated IT & Communication Eng., Kunsan National Univ.) ;
  • Cha, Jaesang (Media IT Engineering, Seoul National Univ., 0f Science and Tech.)
  • Received : 2016.11.30
  • Accepted : 2016.12.10
  • Published : 2016.12.30
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Abstract

In this paper, we propose a simple and effective vision-based tracking controller design for autonomous object tracking using multicopter. The multicopter based automatic tracking system usually unstable when the object moved so the tracking process can't define the object position location exactly that means when the object moves, the system can't track object suddenly along to the direction of objects movement. The system will always looking for the object from the first point or its home position. In this paper, PID control used to improve the stability of tracking system, so that the result object tracking became more stable than before, it can be seen from error of tracking. A computer vision and control strategy is applied to detect a diverse set of moving objects on Raspberry Pi based platform and Software defined PID controller design to control Yaw, Throttle, Pitch of the multicopter in real time. Finally based series of experiment results and concluded that the PID control make the tracking system become more stable in real time.

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References

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