# Optimizing success rate with Nonlinear Mapping Control in a high-performance raspberry Pi-based light source target tracking system

## TL;DR

This paper introduces a nonlinear control method to improve the accuracy and speed of tracking moving light sources using a Raspberry Pi-based system.

## Contribution

The novel nonlinear mapping control method significantly improves tracking success rates and reduces errors in real-time systems.

## Key findings

- The system achieved a 100% success rate in target tracking.
- The average error rate was 0.188% at a distance of 1.25 meters.
- The miss rate was reduced to 3.3% with optimized nonlinear mapping.

## Abstract

This study addresses the limitations of linear mapping in two-dimensional gimbal control for moving target tracking, which results in significant control errors and slow response times. To overcome these issues, we propose a nonlinear mapping control method that enhances the success rate of light source target tracking systems. Using Raspberry Pi 4B and OpenCV, the control system performs real-time recognition of rectangular frames and laser spot images. The tracking system, which includes an OpenMV H7 Plus camera, captures and processes the laser spot path. Both systems are connected to an STM32F407ZGT6 microcontroller to drive a 42-step stepper motor with precise control. By adjusting the parameter c of the nonlinear mapping curve, we optimize the system's performance, balancing the response speed and stability. Our results show a significant improvement in control accuracy, with a miss rate of 3.3%, an average error rate of 0.188% at 1.25 m, and a 100% success rate in target tracking. The proposed nonlinear mapping control method offers substantial advancements in real-time tracking and control systems, demonstrating its potential for broader application in intelligent control fields.