Knowledge Commons of Institute of Automation,CAS
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 | 复杂系统认知与决策实验室_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 |
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 | Yang, Xiang,Wu Zhengxing,Yu Junzhi,et al. A novel active tracking system for robotic fish based on cascade control structure[C],2016. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Robio2016No64.pdf(565KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 |
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。
修改评论