CASIA OpenIR
Design and Vision Based Autonomous Capture of Sea Organism With Absorptive Type Remotely Operated Vehicle
Li Ji-Yong1; Zhou Hao1; Huang Hai1; Yang Xu2; Wan Zhaoliang1; Wan Lei1
Source PublicationIEEE ACCESS
ISSN2169-3536
2018
Volume6Pages:73871-73884
Corresponding AuthorHuang Hai(haihus@163.com)
AbstractRobot machine capture protein seafood like sea cucumber and seashell is expected to play a great role in food economy improvement and divers protection. In order to realize robot capture, a sea organism absorptive type remotely operated vehicle (ROV) has been designed with the pilot operation and vision-based autonomous capture modes. A novel region-based fully convolutional network with deformable convolutional networks has been developed to realize organism target recognition. The comparisons in offline experiments have verified its advantages. In order to realize organism target following and capture control, a novel learning-based type-II fuzzy controller has been developed. Through online fuzzy rule optimization and learning, the controller can realize organism target following and capture control under image coordinate without vehicle horizontal velocity or position information in the complicated submarine environment. Field trials have been made in the Zhangzidao Island of China with the designed absorptive type ROV. The trials manifest that the designed absorptive type ROV can realize online organism target recognition, following and capture in the real submarine environment.
KeywordRemotely operated vehicle vision servo control target recognition
DOI10.1109/ACCESS.2018.2880413
WOS KeywordUNDERWATER ; MANIPULATION ; TRACKING ; ROBOTS ; NAVIGATION
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[61633009] ; National Natural Science Foundation of China[51579053] ; National Natural Science Foundation of China[5129050] ; National Natural Science Foundation of China[51779052] ; National Natural Science Foundation of China[51779059] ; Key Basic Research Project of Shanghai Science and Technology Innovation Plan[15JC1403300] ; Field Fund of the 13th Five-Year Plan for the Equipment Pre-Research Fund[61403120301]
Funding OrganizationNational Natural Science Foundation of China ; Key Basic Research Project of Shanghai Science and Technology Innovation Plan ; Field Fund of the 13th Five-Year Plan for the Equipment Pre-Research Fund
WOS Research AreaComputer Science ; Engineering ; Telecommunications
WOS SubjectComputer Science, Information Systems ; Engineering, Electrical & Electronic ; Telecommunications
WOS IDWOS:000454366000001
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/25648
Collection中国科学院自动化研究所
Corresponding AuthorHuang Hai
Affiliation1.Harbin Engn Univ, Natl Key Lab Sci & Technol Underwater Vehicle, Harbin 150001, Heilongjiang, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Li Ji-Yong,Zhou Hao,Huang Hai,et al. Design and Vision Based Autonomous Capture of Sea Organism With Absorptive Type Remotely Operated Vehicle[J]. IEEE ACCESS,2018,6:73871-73884.
APA Li Ji-Yong,Zhou Hao,Huang Hai,Yang Xu,Wan Zhaoliang,&Wan Lei.(2018).Design and Vision Based Autonomous Capture of Sea Organism With Absorptive Type Remotely Operated Vehicle.IEEE ACCESS,6,73871-73884.
MLA Li Ji-Yong,et al."Design and Vision Based Autonomous Capture of Sea Organism With Absorptive Type Remotely Operated Vehicle".IEEE ACCESS 6(2018):73871-73884.
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