Design of A Vision-Based Autonomous Turret

Louali, Rabah; Negadi, Djilali; Hamadouche, Rabah; Nemra, Abdelkrim

doi:10.14313/jamris/4-2022/35

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Design of A Vision-Based Autonomous Turret

Journal of Automation, Mobile Robotics and Intelligent Systems

Volume 16 (2022): Issue 4 (December 2022)

By: Rabah Louali, Djilali Negadi, Rabah Hamadouche and Abdelkrim Nemra

Open Access

|Oct 2023

Abstract

This article describes the hardware and software design of a vision-based autonomous turret system. A two degree of freedom (2 DOF) turret platform is designed to carry a cannon equipped with an embedded camera and actuated by stepper motors or direct current motors. The turret system includes a central calculator running a visual detection and tracking solution, and a microcontroller, responsible for actuators control. The Tracking- Learning-Detection (TLD) algorithm is implemented for target detection and tracking. Furthermore, a Kalman filter algorithm is implemented to continue the tracking in case of occlusion. The performances of the designed turret, regarding response time, accuracy and the execution time of its main tasks, are evaluated. In addition, an experimental scenario was performed for real-time autonomous detection and tracking of a moving target.

References

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DOI: https://doi.org/10.14313/jamris/4-2022/35 | Journal eISSN: 2080-2145 | Journal ISSN: 1897-8649

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Language: English

Page range: 72 - 77

Submitted on: Jan 10, 2023

Accepted on: Feb 10, 2023

Published on: Oct 20, 2023

Published by: Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP

In partnership with: Paradigm Publishing Services

Publication frequency: 4 issues per year

Keywords:

Autonomous turret,

Stepper motor,

DC motor,

Vision based control,

Tracking-Learning-Detection (TLD) algorithm,

Kalman based visual tracking

Related subjects:

Computer sciences,

Artificial intelligence,

Engineering,

Electrical engineering,

Control engineering, metrology and testing,

Mechanical engineering,

Fundamentals of mechanical engineering

© 2023 Rabah Louali, Djilali Negadi, Rabah Hamadouche, Abdelkrim Nemra, published by Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

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