Design of a camera stabilizer system for robotic fish based on feedback-feedforward control
Yang, Xiang; Wu, Zhengxing; Liu, Jincun; Yu, Junzhi; Zhengxing Wu
2016
会议名称35th Chinese Control Conference, CCC 2016
会议录名称Chinese Control Conference, CCC
会议日期July 27, 2016 - July 29, 2016
会议地点Chengdu, China
摘要This paper presents a novel approach for a visual system of robotic fish to reduce the instability of camera image caused by the inherent periodic yawing of the fish head. In order to acquire the stable image from the camera located inside of the fish head, a camera stabilizer for the visual system is designed. Meanwhile, an Inertial Measurement Unit (IMU) with nine degrees-of-freedom (DoFs) is employed to maintain the attitude of the camera stable with respect to the inertial frame. To accurately describe the stabilizer system characteristics, a simple and effective system model is built. Moreover, a feedback-feedforward controller is proposed to mitigate the periodic swing effect and obtain stable and clear camera image when the robotic fish is swimming. Finally, the simulation and experiments both verified the effectiveness of the mechanism design for camera stabilizerand the corresponding feedback-feedforward control approach for enhancing the stability of images.
关键词Underwater Robot Robotic Fish Camera Stabilizer Feedback-feedforward Controller Underwater Vision
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13031
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Zhengxing Wu
作者单位State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China
推荐引用方式
GB/T 7714
Yang, Xiang,Wu, Zhengxing,Liu, Jincun,et al. Design of a camera stabilizer system for robotic fish based on feedback-feedforward control[C],2016.
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