移动目标追踪系统的设计及实现

Design and Implementation of Moving Target Tracking Algorithm

摘要:

移动目标追踪系统是实现一款智能小车对运动的物体进行识别、循迹、追踪等。采用智能路径规划方法，借助STM32主控制芯片，以其丰富的硬件资源为基础，连接可编程的OPENMV摄像头模块、电机驱动模块、电机和编码器，使用C语言进行控制编程，设计了一款移动目标追踪系统；摄像头对物体采集图像，计算出物体的坐标和物体与小车的距离，传给主控制器；主控制器将小车的坐标与小车到物体的距离作为PID算法的输入，通过优化后的PID算法调节PWM去控制电机运行，完成对物体的循迹、追踪。实验结果表明，在优化后的PID算法的控制下，无论物体是运动还是静止，小车都能够比传统的PID算法控制更加快速、稳定的追踪到物体，直到小车追踪到物体并且稳定的保持相对静止状态。

Abstract:

Moving target tracking system is to realize an intelligent car to recognize, track and track moving objects. Using the intelligent path planning method, with the help of the STM32 master control chip, based on its rich hardware resources, connected the programmable OPENMV camera module, motor driver module, motor and encoder, and used C language for control programming, designed a moving target tracking system. The camera collects images of the object, calculates the coordinates of the object and the distance between the object and the car, and sends them to the main controller. The main controller takes the coordinates of the car and the distance from the car to the object as the input of the PID algorithm, adjusts the PWM to control the motor operation through the optimized PID algorithm, and completes the tracking and tracking of the object. The experimental results show that under the control of the optimized PID algorithm, no matter the object is moving or stationary, the car can track the object more quickly and stably than the traditional PID algorithm, until the car tracks the object and keeps the relative static state stably.