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The remote controlled weapon station (RCWS) is currently highly emphasized in infantry warfare. The future trend will focus on automatic targeting procedure to improve efficiency, and meanwhile to save the operator from hostile fire. In addition to operate the gun turret remotely, it is presently a direction to be integrated with the Unmanned Ground Vehicle (UGV) to serve as surveillance unit in the combat hot zone, such as peace keeping mission. In this research, an improved targeting algorithm based on visual servo concept, Kalman estimator and fuzzy logic theory is proposed, and a SCORBOT ER5+ robotic system was modified as a platform to demonstrate the result.