TRACKING CONTROL FOR A BIOMIMETIC ROBOTIC FISH GUIDED BY ACTIVE VISION
Sun, Feihu1; Yu, Junzhi1; Zhao, Peng1; Xu, De2
2016
发表期刊INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
卷号31期号:2页码:137-145
文章类型Article
摘要This 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.
关键词Tracking Control Active Vision Stability Control Biomimetic Robotic Fish
WOS标题词Science & Technology ; Technology
DOI10.2316/Journal.206.2016.2.206-4524
关键词[WOS]UNDERWATER VEHICLES ; LOCOMOTION ; ENHANCEMENT ; NAVIGATION
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) ; State Key Laboratory of Robotics ; 61333016 ; 61273326)
WOS研究方向Automation & Control Systems ; Robotics
WOS类目Automation & Control Systems ; Robotics
WOS记录号WOS:000376820000008
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/12228
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 100864, Peoples R China
2.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100864, Peoples R China
推荐引用方式
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.
条目包含的文件
条目无相关文件。
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Sun, Feihu]的文章
[Yu, Junzhi]的文章
[Zhao, Peng]的文章
百度学术
百度学术中相似的文章
[Sun, Feihu]的文章
[Yu, Junzhi]的文章
[Zhao, Peng]的文章
必应学术
必应学术中相似的文章
[Sun, Feihu]的文章
[Yu, Junzhi]的文章
[Zhao, Peng]的文章
相关权益政策
暂无数据
收藏/分享
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。