A Novel Visual Sensor Stabilization Platform for Robotic Sharks Based on Improved LADRC and Digital Image Algorithm

doi:10.3390/s20144060

	A Novel Visual Sensor Stabilization Platform for Robotic Sharks Based on Improved LADRC and Digital Image Algorithm
	Pan, Jie 1; Zhang, Pengfei 2,3; Liu, Jincun1 ; Yu, Junzhi1
发表期刊	SENSORS
	2020-07-01
卷号	20 期号:14 页码:16
通讯作者	Yu, Junzhi(yujunzhi@pku.edu.cn)
摘要	Autonomous underwater missions require the construction of a stable visual sensing system. However, acquiring continuous steady image sequences is a very challenging task for bionic robotic fish due to their tight internal space and the inherent periodic disturbance caused by the tail beating. To solve this problem, this paper proposes a modified stabilization strategy that combines mechanical devices and digital image techniques to enhance the visual sensor stability and resist periodic disturbance. More specifically, an improved window function-based linear active disturbance rejection control (LADRC) was utilized for mechanical stabilization. Furthermore, a rapid algorithm with inertial measurement units (IMUs) was implemented for digital stabilization. The experiments regarding mechanical stabilization, digital stabilization, and target recognition on the experimental platform for simulating fishlike oscillations demonstrated the effectiveness of the proposed methods. The success of these experiments provides valuable insight into the construction of underwater visual sensing systems and also establishes a solid foundation for the visual applications for robotic fish in dynamic aquatic environments.
关键词	visual sensor stabilization platform improved LADRC digital technique robotic fish
DOI	10.3390/s20144060
关键词[WOS]	DISTURBANCE REJECTION CONTROL ; MOTION CONTROL ; SYSTEMS
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[U1909206] ; National Natural Science Foundation of China[61903007] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61633017] ; Pre-Research Fund of Equipment of China[61402070304] ; China Postdoctoral Science Foundation[2020M670044] ; Key Research and Development and Transformation Project of Qinghai Province[2017-GX-103]
项目资助者	National Natural Science Foundation of China ; Pre-Research Fund of Equipment of China ; China Postdoctoral Science Foundation ; Key Research and Development and Transformation Project of Qinghai Province
WOS研究方向	Chemistry ; Engineering ; Instruments & Instrumentation
WOS类目	Chemistry, Analytical ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号	WOS:000556988000001
出版者	MDPI
引用统计	被引频次：6[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/40341
专题	复杂系统管理与控制国家重点实验室
通讯作者	Yu, Junzhi
作者单位	1.Peking Univ, Coll Engn, BIC ESAT, Dept Mech & Engn Sci,State Key Lab Turbulence & C, Beijing 100871, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Pan, Jie,Zhang, Pengfei,Liu, Jincun,et al. A Novel Visual Sensor Stabilization Platform for Robotic Sharks Based on Improved LADRC and Digital Image Algorithm[J]. SENSORS,2020,20(14):16.
APA	Pan, Jie,Zhang, Pengfei,Liu, Jincun,&Yu, Junzhi.(2020).A Novel Visual Sensor Stabilization Platform for Robotic Sharks Based on Improved LADRC and Digital Image Algorithm.SENSORS,20(14),16.
MLA	Pan, Jie,et al."A Novel Visual Sensor Stabilization Platform for Robotic Sharks Based on Improved LADRC and Digital Image Algorithm".SENSORS 20.14(2020):16.