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题名: Embedded Vision-Guided 3-D Tracking Control for Robotic Fish
作者: Yu JZ(喻俊志); Sun FH(孙飞虎); Xu D(徐德); Tan M(谭民)
作者部门: 机器人学研究室
关键词: Motion control ; robotic fish ; three-dimensional tracking control ; visual identification and positioning
刊名: IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN号: 0278-0046
出版日期: 2016
卷号: 63, 期号:1, 页码:355-363
收录类别: SCI ; EI
产权排序: 1
项目资助者: National Natural Science Foundation of China [61375102, 61333016] ; Beijing Natural Science Foundation [3141002] ; Project-Based Personnel Exchange Programme ; State Key Laboratory of Robotics
摘要: Visual tracking of free-swimming robotic fish remains a great challenge by considering imaging qualities in aquatic environments. In this paper, we propose a visual identification and positioning method to obtain accurate position for 3-D tracking control comprising depth control and directional control. Specifically, a depth control method based on fuzzy sliding-mode control is put forward to make the robotic fish swim to the preferred target depth and remain at that depth. A directional control method with multiple stages is proposed, and a series of control strategies is developed to integrate agile locomotion and control accuracy. Experiments on depth control and 3-D tracking control are finally conducted in an indoor pool. The latest results obtained indicate that the proposed algorithms are effective and feasible, which lays a solid foundation for complex underwater task execution.
语种: 英语
WOS记录号: WOS:000366933100033
WOS标题词: Science & Technology ; Technology
类目[WOS]: Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
关键词[WOS]: UNDERWATER ; SLAM
研究领域[WOS]: Automation & Control Systems ; Engineering ; Instruments & Instrumentation
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/17614
Appears in Collections:机器人学研究室_期刊论文

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Recommended Citation:
Yu JZ,Sun FH,Xu D,et al. Embedded Vision-Guided 3-D Tracking Control for Robotic Fish[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2016,63(1):355-363.
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文件名: Embedded Vision-Guided 3-D Tracking Control for Robotic Fish.pdf
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