Target Detectıon And Trackıng Usıng Image Processıng And Intuıtıonıstıc Fuzzy Controller

Silahtar O., Atan Ö.

1 st International Future Engineering Conference, Şırnak, Turkey, 25 - 26 December 2023, pp.72

  • Publication Type: Conference Paper / Summary Text
  • Doi Number: 10.13140/rg.2.2.17557.50402
  • City: Şırnak
  • Country: Turkey
  • Page Numbers: pp.72
  • Van Yüzüncü Yıl University Affiliated: Yes


In this study, detection and tracking of a target object was achieved by using image processing and an intuitionistic fuzzy controller (IFC). For this purpose, a 15cmx15cm blue square object was determined as the target and a camera was integrated into the gyroscope testing set, which can move in two axes. Using gyroscope, which can be moved up and down thanks to two brushless DC motors attached to it, the exact middle point of the target was detected and then was tracked. Firstly, using image processing algorithms, the color and size information of the object was transferred to the "RaspberryPi" development board integrated into the gyroscope and data input was provided. Then, via IFC embedded in the Raspberyypi board and designed within the scope of this study, “Pulse Width Modulation (PWM) signals” were generated to activate the motors. In order to increase the rotational inertia of the gyroscope, reaction wheels produced from a 3D printer were attached to the shaft of the motors. In addition, thanks to the RaspberryPi tools in the MATLAB/Simulink program, the fast wireless communication feature of the RaspberryPi and the efficiency of the designed IFC, the data obtained from the camera was quickly evaluated and the engines reacted quickly. Moreover, the output parameters of the system were observed in real time in the MATLAB/Simulink program. When the results obtained were examined, it was seen that the system reached stability in a short time and the maximum overshoot was determined to be at an acceptable value. When designing the controller of such a complex system, aerodynamic effects, weight, gravity, internal and external disturbances, etc. were not taken into account. Despite this, the fact that the system is stable and has a robust structure reveals the importance of IFC.