Active visual tracking of free-swimming robotic fish based on automatic recognition

	Active visual tracking of free-swimming robotic fish based on automatic recognition
	Sun, Feihu; Yu, Junzhi; Chen, Shifeng; Xu, De
	2015
会议名称	2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
会议录名称	2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
页码	2879-2885
会议日期	June 29, 2014 - July 4, 2014
会议地点	Shenyang, China
摘要	Implementing automatic visual tracking for underwater robots often remains a great challenge. In this paper, we demonstrate an active visual tracking case with a free-swimming robotic fish by use of a combination of TI DM3730-centered embedded hardware and software. Specifically, automatic recognition algorithms mainly involving color-based identification and shape-based identification are proposed. In parallel with the enhanced target recognition, an improved real-time location method based on the weighed histogram representation of the target model that synthesizes the CAMSHIFT algorithm and the Kalman filter, is put forward. After that, a fuzzy logic controller based on the CPG model is employed to generate control signals related to the desired target. Aquatic experiments validate the effectiveness of the proposed algorithms.
关键词	Visualization Target Tracking Histograms Kalman Filters Target Recognition Robot Kinematics
收录类别	IEEE
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/4961
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Sun, Feihu
推荐引用方式 GB/T 7714	Sun, Feihu,Yu, Junzhi,Chen, Shifeng,et al. Active visual tracking of free-swimming robotic fish based on automatic recognition[C],2015:2879-2885.