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Embedded Vision-Guided 3-D Tracking Control for Robotic Fish
Yu JZ(喻俊志); Sun FH(孙飞虎); Xu D(徐德); Tan M(谭民)
Department机器人学研究室
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN0278-0046
2016
Volume63Issue:1Pages:355-363
Indexed BySCI ; EI
EI Accession number20161202133997
WOS IDWOS:000366933100033
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China [61375102, 61333016] ; Beijing Natural Science Foundation [3141002] ; Project-Based Personnel Exchange Programme ; State Key Laboratory of Robotics
KeywordMotion Control Robotic Fish Three-dimensional Tracking Control Visual Identification And Positioning
AbstractVisual 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.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS KeywordUNDERWATER ; SLAM
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/17614
Collection机器人学研究室
Corresponding AuthorYu JZ(喻俊志)
Affiliation1.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
GB/T 7714
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.
APA Yu JZ,Sun FH,Xu D,&Tan M.(2016).Embedded Vision-Guided 3-D Tracking Control for Robotic Fish.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,63(1),355-363.
MLA Yu JZ,et al."Embedded Vision-Guided 3-D Tracking Control for Robotic Fish".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 63.1(2016):355-363.
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