Fuzzy control of camera pan tilt device for remote surveillance system

원격 감시용 카메라의 자동 조향을 위한 Fuzzy 제어

The development of fuzzy pan/tilt controller for remote handling in hostile environment is presented in this paper. In remote handling, control of the camera system is somewhat tedious and time consuming. Operators should do the two tasks of manipulating teleoperator and camera pan/tilt at the same time. By automating pan/tilt control, we expect operators could concentrate only on remote operation. When operators control camera pan/tilt they use simple linguistic rules such as "If the position of end effector on TV monitor is at the edge of the screen, control pan/tilt to display the end effector near the center of the screen." Such a rule is similar to fuzzy logic, so we used fuzzy logic controller to control camera pan/tilt. pan/tilt.