CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Underwater target search with robotic fish based on an improved Camshift algorithm
Chen Shifeng; Yu Junzhi; Sun Feihu; Tan Min
2014
Conference NameChinese Automation Congress
Source Publication2013 Chinese Automation Congress, CAC 2013
Conference Date2013
Conference PlaceChangsha, China
AbstractBiomimetic robotic fish has the distinct advantage of efficient propulsion and high maneuverability over conventional underwater vehicles. This paper addresses the underwater target search issue in a free-swimming robotic fish with embedded vision. In particular, we use the stored original image to acquire the color characteristics of the target and propose an improved Camshift algorithm based on the light intensity distribution to search the target in the captured image. Then the robotic fish is driven towards the identified target smoothly with the aid of bio-inspired Central Pattern Generator (CPG) control. All tracking algorithms are implemented in real time with a hybrid control system combining an embedded microprocessor (TI DM3730) and a microcontroller (ATmega128). Latest aquatic experiments demonstrate that a fairly good tracking effect is resulted and the interference caused by the mirror image effect is largely eliminated. The proposed technical scheme offers an alternative to target search in relatively complex underwater environments.
KeywordBiomimetic Robotic Fish Underwater Search Improved Camshift Algorithm Mirror Image Interference
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13051
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorChen Shifeng
Recommended Citation
GB/T 7714
Chen Shifeng,Yu Junzhi,Sun Feihu,et al. Underwater target search with robotic fish based on an improved Camshift algorithm[C],2014.
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