Implementation of Autonomous Docking and Charging for a Supporting Robotic Fish

doi:10.1109/TIE.2022.3201329

	Implementation of Autonomous Docking and Charging for a Supporting Robotic Fish
	Dong, Huijie1,2 ; Wu, Zhengxing2,3 ; Wang, Jian2,3 ; Chen, Di2,3 ; Tan, Min2,3 ; Yu, Junzhi2,4,5
发表期刊	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN	0278-0046
	2023-07-01
卷号	70 期号:7 页码:7023-7031
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn)
摘要	Underwater energy supplements for autonomous underwater vehicles (AUVs) are significant for ocean exploitation owing to energy storage and data communication limitations. Aiming at the energy supplement for bionic robotic fish, an autonomous recharging-oriented docking approach is proposed in this article. First, an omnidirectional docking system containing a supporting robotic fish capable of visual recognition and wireless charging and a docking platform is presented. Next, five locomotive modes are designed and analyzed based on the hybrid swimming and gliding patterns for the robot fish. Utilizing the five modes, a docking procedure is planned, and an onboard-visual-based autonomous docking control strategy is presented. Aquatic experiments, including docking with the platform and refloating a small robot, are performed to verify the effectiveness of the proposed approach. The obtained results offer valuable insights into the development of autonomous docking of bionic robots, laying a solid foundation for the permanent operation of various underwater devices and robots.
关键词	Robots Visualization Tail Shape Batteries Cameras Buoyancy Autonomous docking gliding robotic fish motion control underwater energy supplementation underwater robotics
DOI	10.1109/TIE.2022.3201329
关键词[WOS]	UNDERWATER ; SYSTEM ; DESIGN
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[62033013] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[62022090] ; National Natural Science Foundation of China[62073196] ; National Natural Science Foundation of China[61836015] ; Joint Fund of Ministry of Education for Equipment Pre-Research[8091B022134] ; Youth Innovation Promotion Association CAS[2019138] ; Beijing Nova Program[Z201100006820078]
项目资助者	National Natural Science Foundation of China ; Joint Fund of Ministry of Education for Equipment Pre-Research ; Youth Innovation Promotion Association CAS ; Beijing Nova Program
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号	WOS:000967125200001
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计	被引频次：8[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/173211/53460
专题	多模态人工智能系统全国重点实验室
通讯作者	Yu, Junzhi
作者单位	1.Taiyuan Univ Technol, Key Lab Adv Transducers & Intelligent Control Syst, Minist Educ, Taiyuan 030024, 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 4.Peking Univ, Coll Engn, Dept Adv Mfg & Robot, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China 5.Guangdong Ocean Univ, Coll Elect & Informat Engn, Zhanjiang 524088, 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	Dong, Huijie,Wu, Zhengxing,Wang, Jian,et al. Implementation of Autonomous Docking and Charging for a Supporting Robotic Fish[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2023,70(7):7023-7031.
APA	Dong, Huijie,Wu, Zhengxing,Wang, Jian,Chen, Di,Tan, Min,&Yu, Junzhi.(2023).Implementation of Autonomous Docking and Charging for a Supporting Robotic Fish.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,70(7),7023-7031.
MLA	Dong, Huijie,et al."Implementation of Autonomous Docking and Charging for a Supporting Robotic Fish".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 70.7(2023):7023-7031.