Embedded Vision-Guided 3-D Tracking Control for Robotic Fish

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Embedded Vision-Guided 3-D Tracking Control for Robotic Fish
	Yu, Junzhi1,2 ; Sun, Feihu 1; Xu, De3 ; Tan, Min1
刊名	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2016
卷号	63 期号:1 页码:355-363
关键词	Motion control robotic fish three-dimensional tracking control visual identification and positioning
英文摘要	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.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
研究领域[WOS]	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
关键词[WOS]	UNDERWATER ; SLAM
收录类别	SCI
语种	英语
WOS记录号	WOS:000366933100033
公开日期	2016-05-03
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/10654]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China 3.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Yu, Junzhi,Sun, Feihu,Xu, De,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, Junzhi,Sun, Feihu,Xu, De,&Tan, Min.(2016).Embedded Vision-Guided 3-D Tracking Control for Robotic Fish.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,63(1),355-363.
MLA	Yu, Junzhi,et al."Embedded Vision-Guided 3-D Tracking Control for Robotic Fish".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 63.1(2016):355-363.