Underwater Target Tracking Control of an Untethered Robotic Fish With a Camera Stabilizer | |
Yu, Junzhi1,2,3![]() ![]() ![]() ![]() ![]() | |
发表期刊 | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
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ISSN | 2168-2216 |
2021-10-01 | |
卷号 | 51期号:10页码:6523-6534 |
通讯作者 | Yu, Junzhi(junzhi.yu@ia.ac.cn) |
摘要 | Implementing underwater target tracking remains difficult for a free-swimming robotic fish owing to the intrinsically reciprocating motion in fishlike propulsion. In this article, we present a novel robotic fish platform with a camera stabilizing system and achieve real-time two-dimensional target tracking assisted by reinforcement learning (RL) in continuous environments. More specifically, we first develop an active visual tracking system based on cascade control structure to obtain the relative orientation between the robotic fish and the underwater target. Then, we propose a target tracking controller dealing with continuous state and action spaces based on deep RL (DRL). The controller takes the position of the target object as input and yields the motion parameters of the bioinspired central pattern generator governed robotic fish. The robustness and adaptability of the proposed controller as well as the influence of time-delays on the control system are explored via simulated experiments under different scenarios. Finally, both static and dynamic tracking experiments on the actual robotic fish demonstrate the effectiveness of the proposed mechatronic design and control methods, providing insights to executing aquatic vision-based tracking tasks. |
关键词 | Cameras Robot vision systems Target tracking Oscillators Sports Active visual tracking camera stabilizer reinforcement learning (RL) robotic fish underwater target tracking |
DOI | 10.1109/TSMC.2019.2963246 |
关键词[WOS] | MOTION CONTROL ; MODES |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[U1909206] ; National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[61633004] ; National Natural Science Foundation of China[61973303] ; Preresearch Fund of Equipment of China[61402070304] |
项目资助者 | National Natural Science Foundation of China ; Preresearch Fund of Equipment of China |
WOS研究方向 | Automation & Control Systems ; Computer Science |
WOS类目 | Automation & Control Systems ; Computer Science, Cybernetics |
WOS记录号 | WOS:000696079100059 |
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 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/46038 |
专题 | 复杂系统管理与控制国家重点实验室 复杂系统认知与决策实验室_先进机器人 复杂系统认知与决策实验室_水下机器人 |
通讯作者 | Yu, Junzhi |
作者单位 | 1.Peking Univ, State Key Lab Turbulence & Complex Syst, Dept Mech & Engn Sci, BIC ESAT,Coll Engn, 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 |
第一作者单位 | 中国科学院自动化研究所 |
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 | Yu, Junzhi,Wu, Zhengxing,Yang, Xiang,et al. Underwater Target Tracking Control of an Untethered Robotic Fish With a Camera Stabilizer[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2021,51(10):6523-6534. |
APA | Yu, Junzhi,Wu, Zhengxing,Yang, Xiang,Yang, Yueqi,&Zhang, Pengfei.(2021).Underwater Target Tracking Control of an Untethered Robotic Fish With a Camera Stabilizer.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,51(10),6523-6534. |
MLA | Yu, Junzhi,et al."Underwater Target Tracking Control of an Untethered Robotic Fish With a Camera Stabilizer".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 51.10(2021):6523-6534. |
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