A novel active tracking system for robotic fish based on cascade control structure
Yang, Xiang; Wu Zhengxing; Yu Junzhi; Zhengxing Wu
2016
会议名称IEEE International Conference on Robotics and Biomimetics
会议录名称IEEE International Conference on Robotics and Biomimetics
会议日期Dec. 3, 2016– Dec. 7, 2016
会议地点Qingdao, China
摘要This paper presents a novel active tracking control approach for a self-propelled robotic fish with onboard vision system. Considering the image instability caused by the swaying of the fish head, a camera stabilizer for visual system is designed to obtain stable images. Meanwhile, a feedback-feedforward controller is developed to maintain the attitude of camera to the inertial frame based on two Inertial Measurement Units (IMU) separately fixed on the camera and the fish body. In order to effectively track a target object, the Kernelized Correlation Filters (KCF) is adopted and a relevant active tracking controller is also designed. With the feedback-feedforward controller as an inner loop and the active tracking controller as an outer loop, a cascade control system is formed. Finally, the simulation and experiment results both verify the effectiveness of the mechanism design for the camera stabilizer and the corresponding cascade control approach for the active tracking system.
收录类别EI
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13034
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,Yu Junzhi,et al. A novel active tracking system for robotic fish based on cascade control structure[C],2016.
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