Visual tracking of multiple robotic fish for cooperative control,

	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	复杂系统认知与决策实验室_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
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
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.