Design and implementation of an unmanned boat visual target tracking system

摘要

This paper describes how to detect the water surface targets, obtain effective tracking information, and control the unmanned boat based on the information while the unmanned boat equipped with Raspberry Pi 3B. The structure of the image processing part and the control part of the unmanned boat is mainly designed. The image processing part adopts the Raspberry Pi CSI interface camera to collect the data, uses the CamShift (CS) algorithm to perform target tracking, obtains the angular deviation and distance between the target and the unmanned boat through conversion, and sends the information to the DSP processor. In the unmanned boat control part, the unmanned boat motion model is identified through experiments, and the PID controller is designed. Finally, the fixed target and the moving target are tracked through the pool experiment, and the rationality of the system is verified.