Embedded Vision-Guided 3-D Tracking Control for Robotic Fish
Yu, Junzhi1,2; Sun, Feihu1; Xu, De3; Tan, Min1
2016
发表期刊IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
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
DOI10.1109/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
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/10654
专题复杂系统管理与控制国家重点实验室_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
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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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