TRACKING CONTROL FOR A BIOMIMETIC ROBOTIC FISH GUIDED BY ACTIVE VISION

doi:10.2316/Journal.206.2016.2.206-4524

	TRACKING CONTROL FOR A BIOMIMETIC ROBOTIC FISH GUIDED BY ACTIVE VISION
	Sun, Feihu 1; Yu, Junzhi1 ; Zhao, Peng 1; Xu, De2
发表期刊	INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
	2016
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
DOI	10.2316/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	被引频次：8[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/173211/12228
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 100864, Peoples R China 2.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100864, 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	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.