Development of a Real Time Spherical Object Tracking Control System

Wong, Ziliang (2020) Development of a Real Time Spherical Object Tracking Control System. Final Year Project (Bachelor), Tunku Abdul Rahman University College.

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Abstract

This project aims to develop a real time spherical object tracking control system. The system development will be analysed based on its tracking ability. Besides, it also reviews the application of visual object tracking system on particle weapon. Through reviewing the visual tracking system of particle weapon and related works, this project proposed to development a real time spherical object tracking system based on a mathematical model which is proposed in this project. À hardware model will be constructed before adding in software and control system. The mathematical model is derived based on engineering concepts and hardware specification. This object tracking system which using mathematical model is known as open loop spherical object tracking system. By letting the system tracks a static object, it tracks the target with zero tracking error, proving the mathematical model able to track target based on image captured. The system will be converted into transfer function so further development with the assist of MATLAB and SIMULINK simulation. The project proceeds with implemented close loop object tracking system by modifying the open loop object tracking system. With proper modification, the close loop spherical object tracking system able to track static target with zero tracking error, proving this system is success. However, when the system tracks moving objects (tested with constant velocity and speed increment), tracking error is observed. This result proves that the tracking system increases with the speed of the target moving. The system is then further improved by implementing PID controller into the close loop spherical object tracking system. The pixel coordinates generated by proper image processing technique on image captured by imaging device will be manipulated by PID Controller before convert the pixel coordinates into motor motion. Implementing PID results in reduce tracking error by 65% for yaw (horizontal) axis and 24% for pitch (vertical) axis when compared with close loop control system without PID controller implemented.