CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Tracking control for a biomimetic robotic fish guided by active vision
Sun, Feihu 1; Yu, Junzhi 1; Zhao, Peng 1; Xu, De 2
Source PublicationInternational Journal of Robotics and Automation
AbstractThis paper is concerned with control issue of active vision guided tracking for an agile robotic fish. A control method for guaranteeing the stability of the swinging head is proposed, which aims at steady image data acquisition. Then, a control framework with the properties of multiple stages is presented. The artificial landmark-based visual positioning and directional control implemented as a fuzzy logic controller are combined in this framework. Furthermore, reasonable control strategies are put forward to balance the kinematic performance and the tracking accuracy. Finally, tracking tests have been conducted on the autonomous robotic fish merely guided by embedded vision. The experimental results indicate the feasibility and reliability of the proposed methods.
KeywordTracking Control Active Vision Stability Control Biomimeticrobotic Fish
Document Type期刊论文
Corresponding AuthorYu, Junzhi
Affiliation1. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, China
2. Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences, China
Recommended Citation
GB/T 7714
Sun, Feihu ,Yu, Junzhi ,Zhao, Peng ,et al. Tracking control for a biomimetic robotic fish guided by active vision[J]. International Journal of Robotics and Automation,2016,31(2):137-145.
APA Sun, Feihu ,Yu, Junzhi ,Zhao, Peng ,&Xu, De .(2016).Tracking control for a biomimetic robotic fish guided by active vision.International Journal of Robotics and Automation,31(2),137-145.
MLA Sun, Feihu ,et al."Tracking control for a biomimetic robotic fish guided by active vision".International Journal of Robotics and Automation 31.2(2016):137-145.
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