Visual tracking of multiple robotic fish for cooperative control,
Yu, Junzhi; Fang, Yimin; Wang, Long; Liu, Lizhong
2006
会议名称2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
会议录名称IEEE International Conference on Robotics and Biomimetics, ROBIO
会议日期December 17, 2006 - December 20, 2006
会议地点Kunming, China
摘要In this paper, we investigate visual tracking of multiple biomimetic robotie fish which swim together to achieve some specific tasks in underwater cluttered environments. Taking account of surrounding background and kinematic characteristics of swimming fish, a novel color-index-based identification approach is presented, which is capable of identifying many fish rapidly in a processing cycle. Meanwhile, some anti-jamming measures including optical correction and foil superposition are made to ensure a robust tracking. Finally, all tracking operations are optimized in coding with the aid of parallelized SIMD technologies embedded in processors. Our proposed visual system can experimentally track as large as an amount of eight robotic fish and one obstacle within 24.143 milliseconds, which can fully satisfy the requirements of cooperative control.
关键词Visual Tracking Robotic Fish Color-based Parallel Optimization Simd Technology
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13073
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Yu, Junzhi
作者单位Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China.(2)Department of Mechanics and Engineering Science, Peking University, Beijing 100871, China
推荐引用方式
GB/T 7714
Yu, Junzhi,Fang, Yimin,Wang, Long,et al. Visual tracking of multiple robotic fish for cooperative control,[C],2006.
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