CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Target tracking of robotic fish based on embedded vision and CPG model
Feihu Sun; Junzhi Yu; De Xu
2013
Conference Name2013 IEEE International Conference on Information and Automation, ICIA 2013
Conference DateAugust 26, 2013 - August 28, 2013
Conference PlaceYinchuan, China
AbstractThere 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.
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13046
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorFeihu Sun
Recommended Citation
GB/T 7714
Feihu Sun,Junzhi Yu,De Xu. Target tracking of robotic fish based on embedded vision and CPG model[C],2013.
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