CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
TRACKING CONTROL FOR A BIOMIMETIC ROBOTIC FISH GUIDED BY ACTIVE VISION
Sun, Feihu1; Yu, Junzhi1; Zhao, Peng1; Xu, De2
Source PublicationINTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
2016
Volume31Issue:2Pages:137-145
SubtypeArticle
AbstractThis paper is concerned with control issue of active vision guided tracking for an agile robotic fish. A control method for guaranteeing the stability of the swinging head is proposed, which aims at steady image data acquisition. Then, a control framework with the properties of multiple stages is presented. The artificial landmark-based visual positioning and directional control implemented as a fuzzy logic controller are combined in this framework. Furthermore, reasonable control strategies are put forward to balance the kinematic performance and the tracking accuracy. Finally, tracking tests have been conducted on the autonomous robotic fish merely guided by embedded vision. The experimental results indicate the feasibility and reliability of the proposed methods.
KeywordTracking Control Active Vision Stability Control Biomimetic Robotic Fish
WOS HeadingsScience & Technology ; Technology
DOI10.2316/Journal.206.2016.2.206-4524
WOS KeywordUNDERWATER VEHICLES ; LOCOMOTION ; ENHANCEMENT ; NAVIGATION
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(61375102 ; Beijing Natural Science Foundation(3141002) ; State Key Laboratory of Robotics ; 61333016 ; 61273326)
WOS Research AreaAutomation & Control Systems ; Robotics
WOS SubjectAutomation & Control Systems ; Robotics
WOS IDWOS:000376820000008
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12228
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100864, Peoples R China
2.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100864, Peoples R China
Recommended Citation
GB/T 7714
Sun, Feihu,Yu, Junzhi,Zhao, Peng,et al. TRACKING CONTROL FOR A BIOMIMETIC ROBOTIC FISH GUIDED BY ACTIVE VISION[J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,2016,31(2):137-145.
APA Sun, Feihu,Yu, Junzhi,Zhao, Peng,&Xu, De.(2016).TRACKING CONTROL FOR A BIOMIMETIC ROBOTIC FISH GUIDED BY ACTIVE VISION.INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,31(2),137-145.
MLA Sun, Feihu,et al."TRACKING CONTROL FOR A BIOMIMETIC ROBOTIC FISH GUIDED BY ACTIVE VISION".INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION 31.2(2016):137-145.
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