Knowledge Commons of Institute of Automation,CAS
A vision-based path planning and following system for a miniature robotic fish | |
Yue Lu1,2; Xingyu Chen1,2; Zhengxing Wu1; Yan Yan1; Junzhi Yu1,3 | |
2019-08 | |
会议名称 | IEEE International Conference on Real-time Computing and Robotics |
会议日期 | 2019-8 |
会议地点 | Irkutsk |
出版者 | IEEE |
摘要 | Most existing path following algorithms for middleor large-sized underwater vehicles minimize yaw difference of the control object. Breaking the canonical manner, this paper presents a vision-based path planning and following system for miniature robotic fish. As for path planning, the proposed system finds a gird path based on the AStar algorithm and selects a series of target points in the grid path. By connecting these points in order, a curve path can be planned. In terms of path following, the proposed system forgoes to give a specific yaw and only uses a global camera. It obtains coordinates of the robotic fish in real time by KCF tracking algorithm to calculate an approximate motion vector. A PID controller is employed to drive the difference angle between the motion vector and the target vector (the vector from the robotic fish to the target point) to zero. By swimming to target points one by one, the robotic fish can move to the terminus following the planned path. Finally, aquatic experiments are conducted to verify the effectiveness of the vision-based path planning and following system. The results reveal that the developed system can generate a safe and smooth path, and the robotic fish can follow the path with acceptable deviation. |
收录类别 | EI |
七大方向——子方向分类 | 目标检测、跟踪与识别 |
国重实验室规划方向分类 | 其他 |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/52015 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Junzhi Yu |
作者单位 | 1.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China 2.University of Chinese Academy of Sciences, Beijing 100049, China 3.State Key Laboratory for Turbulence and Complex System, Department of Mechanics and Engineering Science, BIC-ESAT, College of Engineering, Peking University, Beijing 100871, China |
推荐引用方式 GB/T 7714 | Yue Lu,Xingyu Chen,Zhengxing Wu,et al. A vision-based path planning and following system for a miniature robotic fish[C]:IEEE,2019. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
A_Vision-Based_Path_(195KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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