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Vision-Based Autonomous Hovering for the Biomimetic Underwater Robot-RobCutt-II
Wang, Rui1; Wang, Shuo1,2,3; Wang, Yu1; Cai, Mingxue1,2; Tan, Min1,2
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN0278-0046
2019-11-01
Volume66Issue:11Pages:8578-8588
Abstract

This paper aims to investigate the method of autonomous hovering control for the biomimetic underwater robot named RobCutt-II. First, a modular configuration for mimicry of undulatory propulsion is presented, followed by a coordinated control of dual fins for enhancing the maneuverability and stability of the RobCutt-II. Then the vision-based hovering problem is formulated. A dual-loop hovering control framework integrating an image processing module, a tracking differentiator, a hovering controller, a velocity controller, and a fuzzy-based control allocation module is proposed to govern the locomotion of the RobCutt-II. Finally, simulations and experimental results demonstrate the effectiveness of the proposed mechanical design and control methods.

KeywordAutonomous hovering biomimetic underwater robot dual fins undulatory propulsion visual servoing
DOI10.1109/TIE.2018.2886755
WOS KeywordTRACKING CONTROL ; VEHICLE ; DESIGN ; MOTION
Indexed BySCI
Language英语
Funding ProjectNational Key Research and Development Program of China[2017YFB1300103] ; National Natural Science Foundation of China[U1713222] ; National Natural Science Foundation of China[U1713222] ; National Key Research and Development Program of China[2017YFB1300103]
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000474570200027
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/26838
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorWang, Shuo; Wang, Yu
Affiliation1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
3.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai 200031, Peoples R China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Wang, Rui,Wang, Shuo,Wang, Yu,et al. Vision-Based Autonomous Hovering for the Biomimetic Underwater Robot-RobCutt-II[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2019,66(11):8578-8588.
APA Wang, Rui,Wang, Shuo,Wang, Yu,Cai, Mingxue,&Tan, Min.(2019).Vision-Based Autonomous Hovering for the Biomimetic Underwater Robot-RobCutt-II.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,66(11),8578-8588.
MLA Wang, Rui,et al."Vision-Based Autonomous Hovering for the Biomimetic Underwater Robot-RobCutt-II".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 66.11(2019):8578-8588.
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