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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
通讯作者: 喻俊志
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
EI收录号: 20161202133997
WOS记录号: WOS:000366933100033
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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作者单位: 1.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
3.Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences, Beijing, China

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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