Özet:

In this study,  target tracking is performed by PID control technique using a camera and a laser pointer that mounted on a mobile robot.  The control of the mobile robot can be achieved remotely with the designed remote control. It is obvious that the laser deviates from the target while mobile robot is moving through rough roads. Sensors such as gyroscope, accelerometer, distance sensor and encoder are connected to the mobile robot. The amount of deviation from the laser target area is calculated by those sensors. Motors located on vertical and horizontal axis will make the laser move to the opposite direction of the deviation. The angle of the pointer is calculated based on the distance that the robot has taken and the target distance. A knematic model is created for the simulation of robot and PID is chosen as a control technique. PID parameters are automatically tuned in the simulation program. The tuned PID parameters in MATLAB Simulink have provided effective results. The angle change required for target tracking has been observed according to the path that the robot has taken.

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