Cooperative Target Tracking in Aquatic Environment Using Dual Robotic Dolphins

doi:10.1109/TSMC.2019.2944753

	Cooperative Target Tracking in Aquatic Environment Using Dual Robotic Dolphins
	Liu, Jincun 1; Wu, Zhengxing2 ; Yu, Junzhi1,2 ; Xue, Zhibin 3
发表期刊	IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
ISSN	2168-2216
	2021-08-01
卷号	51 期号:8 页码:4782-4792
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn)
摘要	This article proposes a modified rapidly exploring random tree (RRT)-based path planner and behavior-based cooperative tracking strategy for a dual robotic dolphin system to fulfill a cooperative target-tracking task. Specifically, with full consideration of both task requirements and mechatronic configuration, a robotic dolphin with a waist-caudal propulsive mechanism for thrust forces and differential bilateral flippers for maneuverability is developed. To satisfy the demand of fast path planning, a variant RRT algorithm is employed to generate feasible paths for the dual robotic dolphins with fewer waypoints, faster convergence speed, and better stability. Furthermore, a behavior-based approach in conjunction with centralized architecture is implemented to achieve high-level decision-making. Finally, simulations, analysis, as well as field experiments are carried out to verify the effectiveness of the proposed control scheme. The success of the experiments further offers insight into the mechanisms of cooperative multirobot target tracking in aquatic environments.
关键词	Dolphins Robot kinematics Path planning Target tracking Turning Task analysis Behavior based biomimetic robotic dolphin cooperative target tracking rapidly exploring random tree (RRT)
DOI	10.1109/TSMC.2019.2944753
关键词[WOS]	FISH
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[61903007] ; National Natural Science Foundation of China[61633017] ; National Natural Science Foundation of China[61633004] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61973007] ; Pre-Research Fund of Equipment of China[61402070304] ; 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 ; Key Research and Development and Transformation Project of Qinghai Province
WOS研究方向	Automation & Control Systems ; Computer Science
WOS类目	Automation & Control Systems ; Computer Science, Cybernetics
WOS记录号	WOS:000673624500016
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
七大方向——子方向分类	智能机器人
引用统计	被引频次：3[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/173211/45521
专题	复杂系统认知与决策实验室_水下机器人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, Dept Mech & Engn Sci, Coll Engn, BIC ESAT,State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Qinghai Univ, Coll Chem Engn, Xining 810016, Peoples R China
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Liu, Jincun,Wu, Zhengxing,Yu, Junzhi,et al. Cooperative Target Tracking in Aquatic Environment Using Dual Robotic Dolphins[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2021,51(8):4782-4792.
APA	Liu, Jincun,Wu, Zhengxing,Yu, Junzhi,&Xue, Zhibin.(2021).Cooperative Target Tracking in Aquatic Environment Using Dual Robotic Dolphins.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,51(8),4782-4792.
MLA	Liu, Jincun,et al."Cooperative Target Tracking in Aquatic Environment Using Dual Robotic Dolphins".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 51.8(2021):4782-4792.