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Coordination of Multiple Robotic Fish With Applications to Underwater Robot Competition
Yu JZ(喻俊志); Wang C(王晨); Xie GM(谢广明)
作者部门机器人学研究室
关键词Coordination Control Multirobot System Robotic Fish Underwater Robot Competition
发表期刊IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN0278-0046
2016
卷号63期号:2页码:1280-1288
收录类别SCI ; EI
EI收录号20161502216659
WOS记录号WOS:000369990300057
产权排序1
资助机构National Natural Science Foundation of China [60774089, 10972003, 61304033, 61375102] ; State Key Laboratory of Robotics
摘要This paper is concerned with the coordination control of multiple biomimetic robotic fish in highly dynamic aquatic environments by building a hybrid centralized system. With the aid of the results of biorobotics and control techniques, a radio-controlled multijoint robotic fish and its locomotion control are developed. To enable a closed control loop, a visual subsystem that is responsible for tracking of multiple moving objects is constructed and implemented in real time. Furthermore, a behavior-based hierarchical architecture in conjunction with fuzzy reinforcement learning is proposed to accomplish effective coordination among multiple swimming robots. Finally, experiments on 2vs2 water polo game are carried out to verify the proposed coordination control scheme. Over the past eight years, this multirobot platform has been successfully applied to international underwater robot competitions to promote innovative research and education in underwater robotics.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
关键词[WOS]LOCOMOTION CONTROL ; FUZZY CONTROLLER ; OSCILLATORS ; SYSTEMS ; DESIGN
WOS研究方向Automation & Control Systems ; Engineering ; Instruments & Instrumentation
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/17710
专题机器人学研究室
通讯作者Yu JZ(喻俊志)
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.Intelligent Control Laboratory, College of Engineering, Peking University, Beijing, China
推荐引用方式
GB/T 7714
Yu JZ,Wang C,Xie GM. Coordination of Multiple Robotic Fish With Applications to Underwater Robot Competition[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2016,63(2):1280-1288.
APA Yu JZ,Wang C,&Xie GM.(2016).Coordination of Multiple Robotic Fish With Applications to Underwater Robot Competition.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,63(2),1280-1288.
MLA Yu JZ,et al."Coordination of Multiple Robotic Fish With Applications to Underwater Robot Competition".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 63.2(2016):1280-1288.
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