CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
A novel active tracking system for robotic fish based on cascade control structure
Yang, Xiang; Wu Zhengxing; Yu Junzhi; Zhengxing Wu
2016
Conference NameIEEE International Conference on Robotics and Biomimetics
Source PublicationIEEE International Conference on Robotics and Biomimetics
Conference DateDec. 3, 2016– Dec. 7, 2016
Conference PlaceQingdao, China
AbstractThis 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.
Indexed ByEI
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13034
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorZhengxing Wu
AffiliationState Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China
Recommended Citation
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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