VISION BASED CONTROLLER DESIGN FOR TURRET WEAPON SYSTEM

Abstract

The aim of this seminar report is, to give the status of research in fabrication of, a “Vision Based Controller Design for Turret Weapon System” and its applications in various fields of Defence services and other applications. Break down of the system into, various modules and their components has been given in detail. Problem statement of identification, selection, tracking and engagement of the target has also been formulated. Method of controlling the weapon platform has been researched, through application of various existing techniques. Known techniques have been implemented and improved upon, to derive an original method of tuning a controller. The technique has been further extended, to resolve its shortcomings and has been tested on a hardware setup. Advanced image processing techniques have been utilized to have a working, tracking-software that has in-built robustness to, changes in lighting, form and size of the target being tracked. The tracking has then been put through a converter, to arrive at real world indices from the image domain. These are used as reference signals, to the controllers tuned by the proposed method. Finally the controllers ensure fast, error free tracking by the simulated models of DC Position Control Servo systems. The thesis ends with the future discourse to be followed, to bring the entire system to a prototype and further to a large scale manufacturing stage, that can be deployed in field conditions