A novel control algorithm for object tracking by controlling PAN/TILT automatically

In an Auto-Object Tracking system, to deal with the situation that absolute position of PAN/TILT devices could not be obtained; we proposed a new PID control algorithm based on the feedback of the displacement between the Tracked Object in image and the center of image. Meanwhile, the control scheme and the parameter range setting method of this PID are also proposed. With our algorithm, a closed loop control system composed of DSP, PAN/TILT device and the feedback of the image, can drive the movement of the PAN/TILT device and keep position of the tracked object in the center of the image automatically. Three experiments are designed to test the movement of object in horizontal vertical and 135° directions. Experimental results show that compared with non-PID algorithm, our algorithm made the object tracking process more accurate and more stable. It meets the demand of the tracking system for the PAN/TILT device without absolute position feedback function.