Tracking control for a biomimetic robotic fish guided by active vision
Sun, Feihu 1; Yu, Junzhi 1; Zhao, Peng 1; Xu, De 2
2016
发表期刊International Journal of Robotics and Automation
卷号31期号:2页码:137-145
摘要This 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.
关键词Tracking Control Active Vision Stability Control Biomimeticrobotic Fish
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/13089
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1. 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
推荐引用方式
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.
条目包含的文件
条目无相关文件。
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Sun, Feihu ]的文章
[Yu, Junzhi ]的文章
[Zhao, Peng ]的文章
百度学术
百度学术中相似的文章
[Sun, Feihu ]的文章
[Yu, Junzhi ]的文章
[Zhao, Peng ]的文章
必应学术
必应学术中相似的文章
[Sun, Feihu ]的文章
[Yu, Junzhi ]的文章
[Zhao, Peng ]的文章
相关权益政策
暂无数据
收藏/分享
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。