Coordination of Multiple Robotic Fish With Applications to Underwater Robot Competition
Yu, Junzhi1; Wang, Chen3; Xie, Guangming3
2016-02-01
发表期刊IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷号63期号:2页码:1280-1288
文章类型Article
摘要This 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.
关键词Coordination Control Multirobot System Robotic Fish Underwater Robot Competition
WOS标题词Science & Technology ; Technology
DOI10.1109/TIE.2015.2425359
关键词[WOS]LOCOMOTION CONTROL ; FUZZY CONTROLLER ; OSCILLATORS ; SYSTEMS ; DESIGN
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(60774089 ; State Key Laboratory of Robotics ; 10972003 ; 61304033 ; 61375102)
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:000369990300057
引用统计
被引频次:12[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/173211/11340
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Yu, Junzhi
作者单位1. 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
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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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