Target tracking of robotic fish based on embedded vision and CPG model

	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	复杂系统认知与决策实验室_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.