Target tracking of robotic fish based on embedded vision and CPG model
Feihu Sun; Junzhi Yu; De Xu
2013
会议名称2013 IEEE International Conference on Information and Automation, ICIA 2013
会议日期August 26, 2013 - August 28, 2013
会议地点Yinchuan, China
摘要There has been greatly increased interest in using embedded vision for aquatic environments. This paper presents a robust target tracking method for a free-swimming biomimetic robotic fish by means of embedded vision and central pattern generator (CPG)-based motion control. Specifically, an algorithm called automatic continuous adaptive mean shift (Auto-CAMSHIFT) is firstly proposed to obtain the position and size of the interested target. Then a fuzzy logic controller is developed to generate the control input closely related to the desired target. A CPG controller that is robust against small and unexpected disturbance, at the same time, is employed to produce coordinated signals for multiple moving joints of the robotic fish. Finally, aquatic testing results verify the effectiveness of the proposed methods and show a satisfactory performance.
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13046
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Feihu Sun
推荐引用方式
GB/T 7714
Feihu Sun,Junzhi Yu,De Xu. Target tracking of robotic fish based on embedded vision and CPG model[C],2013.
条目包含的文件
条目无相关文件。
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Feihu Sun]的文章
[Junzhi Yu]的文章
[De Xu]的文章
百度学术
百度学术中相似的文章
[Feihu Sun]的文章
[Junzhi Yu]的文章
[De Xu]的文章
必应学术
必应学术中相似的文章
[Feihu Sun]的文章
[Junzhi Yu]的文章
[De Xu]的文章
相关权益政策
暂无数据
收藏/分享
所有评论 (0)
暂无评论
 

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。