Autonomous Dynamic Hitch-Hiking Control of a Bionic Robotic Remora

doi:10.1109/TIE.2023.3265053

	Autonomous Dynamic Hitch-Hiking Control of a Bionic Robotic Remora
	Zhang, Pengfei1,2 ; Wu, Zhengxing1,2 ; Chen, Di1,2 ; Tan, Min1,2 ; Yu, Junzhi1,3,4
发表期刊	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN	0278-0046
	2024-03-01
卷号	71 期号:3 页码:2893-2902
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn)
摘要	Remora suckerfish and its hitch-hiking behavior bring enormous inspiration into the engineering field. In this article, a bioinspired hitch-hiking behavior is accomplished automatically by a robotic remora, which creates possibilities for prolonging its endurance and multirobot cooperation. First, the definition of the hitch-hiking task and the mechatronic design of robotic remora are introduced. Then, aiming at the hitch-hiking task, the LED-marker-based underwater visual localization method and planar state synchronization controller are developed. The localization method includes a complete framework from LED detection to marker pose optimization, which considers the refraction correction to improve the localization precision in water. The synchronization controller is decomposed into the lateral and longitudinal subcontrollers to overcome the challenges caused by underactuated dynamic. Besides, a finite state machine is designed to model the state and action transition during the hitch-hiking task. Extensive experimental results demonstrate the effectiveness of the proposed method. The autonomous hitch-hiking task toward a moving host is successfully implemented by a robotic fish for the first time. Such results may offer valuable insights into the future autonomous operation of underwater robots.
关键词	Autonomous control bioinspired adhesion robotic fish underwater visual localization
DOI	10.1109/TIE.2023.3265053
关键词[WOS]	ACCURATE
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[62233001] ; National Natural Science Foundation of China[62022090] ; National Natural Science Foundation of China[62273351] ; National Natural Science Foundation of China[T2121002] ; Joint Fund of Ministry of Education for Equipment Pre-Research[8091B022134]
项目资助者	National Natural Science Foundation of China ; Joint Fund of Ministry of Education for Equipment Pre-Research
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:001080899800068
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/54341
专题	复杂系统认知与决策实验室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.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Peking Univ, Dept Adv Mfg & Robot, Coll Engn, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China 4.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	Zhang, Pengfei,Wu, Zhengxing,Chen, Di,et al. Autonomous Dynamic Hitch-Hiking Control of a Bionic Robotic Remora[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2024,71(3):2893-2902.
APA	Zhang, Pengfei,Wu, Zhengxing,Chen, Di,Tan, Min,&Yu, Junzhi.(2024).Autonomous Dynamic Hitch-Hiking Control of a Bionic Robotic Remora.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,71(3),2893-2902.
MLA	Zhang, Pengfei,et al."Autonomous Dynamic Hitch-Hiking Control of a Bionic Robotic Remora".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 71.3(2024):2893-2902.