<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>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.</p>
</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.

Design of A Vision-Based Autonomous Turret

Journal of Automation, Mobile Robotics and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

{"article-title":"Design of A Vision-Based Autonomous Turret"}

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...

Design of A Vision-Based Autonomous Turret

Published Online: Oct 20, 2023

Page range: 72 - 77

Received: Jan 10, 2023

Accepted: Feb 10, 2023

DOI: https://doi.org/10.14313/jamris/4-2022/35

Keywords
Autonomous turret, Stepper motor, DC motor, Vision based control, Tracking-Learning-Detection (TLD) algorithm, Kalman based visual tracking

© 2022 Rabah Louali et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Design of A Vision-Based Autonomous Turret

Published Online: Oct 20, 2023

Page range: 72 - 77

Received: Jan 10, 2023

Accepted: Feb 10, 2023

DOI: https://doi.org/10.14313/jamris/4-2022/35

KeywordsAutonomous turret, Stepper motor, DC motor, Vision based control, Tracking-Learning-Detection (TLD) algorithm, Kalman based visual tracking

© 2022 Rabah Louali et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Keywords
Autonomous turret, Stepper motor, DC motor, Vision based control, Tracking-Learning-Detection (TLD) algorithm, Kalman based visual tracking