OBJECT TRACKING CONTROL USING A GIMBAL MECHANISM

Abstract. This work describes a control solution for real time object tracking in images acquired RPAS on an inspection environment. This, controlling 3-axis gimbal mechanism to camera orientation embedded RPAS, using its image processed feedback. The objective of is maintain the target interest at center plane. proposed uses YOLOv3 detection model order detect and determine, thru rotation matrices, new desired angles converge object’s position image. To compare results control, linear was tuned PI algorithm. Simulation practice experiments successfully tracked both approaches presented.