Precise planar motion measurement of a swimming multi-joint robotic fish
Yuan, Jun; Yu, Junzhi; Wu, Zhengxing; Tan, Min
2016-09-01
发表期刊SCIENCE CHINA-INFORMATION SCIENCES
卷号59期号:9页码:092208:1–092208:15
文章类型Article
摘要This paper presents a method for planar motion measurement of a swimming multi-joint robotic fish. The motion of the robotic fish is captured via image sequences and a proposed tracking scheme is employed to continuously detect and track the robotic fish. The tracking scheme initially acquires a rough scope of the robotic fish and thereafter precisely locates it. Historical motion information is utilized to determine the rough scope, which can speed up the tracking process and avoid possible ambient interference. A combination of adaptive bilateral filtering and k-means clustering is then applied to segment out color markers accurately. The pose of the robotic fish is calculated in accordance with the centers of these markers. Further, we address the problem of time synchronization between the on-board motion control system of the robotic fish and the motion measurement system. To the best of our knowledge, this problem has not been tackled in previous research on robotic fish. With information about both the multi-link structure and motion law of the robotic fish, we convert the problem to a nonlinear optimization problem, which we then solve using the particle swarm optimization (PSO) algorithm. Further, smoothing splines are adopted to fit curves of poses versus time, in order to obtain a continuous motion state and alleviate the impact of noise. Velocity is acquired via a temporal derivative operation. The results of experiments conducted verify the efficacy of the proposed method.
关键词Motion Measurement Robotic Fish Time Synchronization Visual Tracking Localization
WOS标题词Science & Technology ; Technology
DOI10.1007/s11432-015-5497-1
关键词[WOS]TIME SYNCHRONIZATION ; MANEUVERS
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61375102 ; Beijing Natural Science Foundation(3141002) ; State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources(LAPS16006) ; 61333016 ; 61421004)
WOS研究方向Computer Science
WOS类目Computer Science, Information Systems
WOS记录号WOS:000389031000012
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/13357
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
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GB/T 7714
Yuan, Jun,Yu, Junzhi,Wu, Zhengxing,et al. Precise planar motion measurement of a swimming multi-joint robotic fish[J]. SCIENCE CHINA-INFORMATION SCIENCES,2016,59(9):092208:1–092208:15.
APA Yuan, Jun,Yu, Junzhi,Wu, Zhengxing,&Tan, Min.(2016).Precise planar motion measurement of a swimming multi-joint robotic fish.SCIENCE CHINA-INFORMATION SCIENCES,59(9),092208:1–092208:15.
MLA Yuan, Jun,et al."Precise planar motion measurement of a swimming multi-joint robotic fish".SCIENCE CHINA-INFORMATION SCIENCES 59.9(2016):092208:1–092208:15.
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