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As computer vision develops, pan-tilt platform visual systems are able to track moving target over static camera systems. In this paper, a novel motion-intelligence-based control algorithm for object tracking by controlling pan-tilt platform has been proposed. The algorithm includes the motion control model based on angular speed and the intelligent control algorithm based on reinforcement learning (RL). The motion control model converts deviation between the center point of the tracked target and the center point of the frame to angular speed of pan-tilt platform. It can keep position of the tracked object in the center of the frame automatically. The intelligent control algorithm based on reinforcement learning can reduce the error between the ideal value and the actual value when the pan-tilt platform moves. The two blocks work together to make the pan-tilt platform track a dynamic object more stably and the experiment result shows that both the tracking accuracy and robustness are improved.

A Novel Motion-Intelligence-Based Control Algorithm for Object Tracking by Controlling PAN-Tilt Automatically