Research of a Novel Visual Tracking System based on a Ring Type Piezoelectric Actuator
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DOI: 10.25236/icsemc.2017.04
Author(s)
Xinda Qi, Shengjun Shi, Yingxiang Liu, Huaiyin Xiong, Weishan Chen
Corresponding Author
Shengjun Sh
Abstract
This study proposes a target tracking system based on a multi-DOF piezoelectric actuator in order to achieve fast and accurate target tracking because it is difficult for traditional tracking system with electromagnetic motor to behave outstanding, especially in low speed condition. The proposed piezoelectric actuator uses hybrid vibration consisted of three modes to make four driving feet rotating bionic eye in three directions. Based on images collected from camera, the bionic eye can track targets object through particle filter tracking algorithm. The tracking system’s angle error is less than 0.5 degree when tracking a sine movement of 1Hz and 10 degrees’ amplitude. The tracking error is controlled within 5 pixels after 0.22s and within 34 pixels when the system is tracking a step signal and a moving target with a speed of 32 pixel/s, respectively.
Keywords
Piezoelectric actuator, Tracking strategy, Dead zone compensation, Variable parameter PID controller, Visual tracking system.