CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Coordination of Multiple Robotic Fish With Applications to Underwater Robot Competition
Yu, Junzhi1; Wang, Chen3; Xie, Guangming3
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
2016-02-01
Volume63Issue:2Pages:1280-1288
SubtypeArticle
AbstractThis paper is concerned with the coordination control of multiple biomimetic robotic fish in highly dynamic aquatic environments by building a hybrid centralized system. With the aid of the results of biorobotics and control techniques, a radio-controlled multijoint robotic fish and its locomotion control are developed. To enable a closed control loop, a visual subsystem that is responsible for tracking of multiple moving objects is constructed and implemented in real time. Furthermore, a behavior-based hierarchical architecture in conjunction with fuzzy reinforcement learning is proposed toaccomplish effective coordination among multiple swimming robots. Finally, experiments on 2vs2 water polo game are carried out to verify the proposed coordination control scheme. Over the past eight years, this multirobot platform has been successfully applied to international underwaterrobot competitions to promote innovative research and education in underwater robotics.
KeywordCoordination Control Multirobot System Robotic Fish Underwater Robot Competition
WOS HeadingsScience & Technology ; Technology
DOI10.1109/TIE.2015.2425359
WOS KeywordLOCOMOTION CONTROL ; FUZZY CONTROLLER ; OSCILLATORS ; SYSTEMS ; DESIGN
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(60774089 ; State Key Laboratory of Robotics ; 10972003 ; 61304033 ; 61375102)
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000369990300057
Citation statistics
Cited Times:18[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/11340
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorYu, Junzhi
Affiliation1. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
3.Intelligent Control Laboratory, College of Engineering, Peking University, Beijing, China
Recommended Citation
GB/T 7714
Yu, Junzhi,Wang, Chen,Xie, Guangming. Coordination of Multiple Robotic Fish With Applications to Underwater Robot Competition[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2016,63(2):1280-1288.
APA Yu, Junzhi,Wang, Chen,&Xie, Guangming.(2016).Coordination of Multiple Robotic Fish With Applications to Underwater Robot Competition.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,63(2),1280-1288.
MLA Yu, Junzhi,et al."Coordination of Multiple Robotic Fish With Applications to Underwater Robot Competition".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 63.2(2016):1280-1288.
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