Embedded Vision-Guided 3-D Tracking Control for Robotic Fish

doi:10.1109/TIE.2015.2466555

	Embedded Vision-Guided 3-D Tracking Control for Robotic Fish
	Yu, Junzhi1,2 ; Sun, Feihu 1; Xu, De3 ; Tan, Min1
发表期刊	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2016
卷号	63 期号:1 页码:355-363
文章类型	Article
摘要	Visual tracking of free-swimming robotic fish remains a great challenge by considering imaging qualities in aquatic environments. In this paper, we propose a visual identification and positioning method to obtain accurate position for 3-D tracking control comprising depth control and directional control. Specifically, a depth control method based on fuzzy sliding-mode control is put forward to make the robotic fish swim to the preferred target depth and remain at that depth. A directional control method with multiple stages is proposed, and a series of control strategies is developed to integrate agile locomotion and control accuracy. Experiments on depth control and 3-D tracking control are finally conducted in an indoor pool. The latest results obtained indicate that the proposed algorithms are effective and feasible, which lays a solid foundation for complex underwater task execution.
关键词	Motion Control Robotic Fish Three-dimensional Tracking Control Visual Identification And Positioning
WOS标题词	Science & Technology ; Technology
DOI	10.1109/TIE.2015.2466555
关键词[WOS]	UNDERWATER ; SLAM
收录类别	SCI
语种	英语
项目资助者	National Natural Science Foundation of China(61375102 ; Beijing Natural Science Foundation(3141002) ; Project-Based Personnel Exchange Programme ; State Key Laboratory of Robotics ; 61333016)
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号	WOS:000366933100033
引用统计	被引频次：53[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/10654
专题	复杂系统认知与决策实验室_先进机器人
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China 3.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
第一作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Yu, Junzhi,Sun, Feihu,Xu, De,et al. Embedded Vision-Guided 3-D Tracking Control for Robotic Fish[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2016,63(1):355-363.
APA	Yu, Junzhi,Sun, Feihu,Xu, De,&Tan, Min.(2016).Embedded Vision-Guided 3-D Tracking Control for Robotic Fish.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,63(1),355-363.
MLA	Yu, Junzhi,et al."Embedded Vision-Guided 3-D Tracking Control for Robotic Fish".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 63.1(2016):355-363.

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文件名称/大小	文献类型	版本类型	开放类型	使用许可
Embedded Vision-Guid（1343KB）	期刊论文	作者接受稿	开放获取	CC BY-NC-SA	浏览