Knowledge Commons of Institute of Automation,CAS
Embedded Vision-Guided 3-D Tracking Control for Robotic Fish | |
Yu, Junzhi1,2; Sun, Feihu1; 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 | |
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. |
条目包含的文件 | ||||||
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 |
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