Underwater target search with robotic fish based on an improved Camshift algorithm
Chen Shifeng; Yu Junzhi; Sun Feihu; Tan Min
2014
会议名称Chinese Automation Congress
会议录名称2013 Chinese Automation Congress, CAC 2013
会议日期2013
会议地点Changsha, China
摘要Biomimetic 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.
关键词Biomimetic Robotic Fish Underwater Search Improved Camshift Algorithm Mirror Image Interference
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13051
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Chen Shifeng
推荐引用方式
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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