TRACKING CONTROL FOR A BIOMIMETIC ROBOTIC FISH GUIDED BY ACTIVE VISION

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

	TRACKING CONTROL FOR A BIOMIMETIC ROBOTIC FISH GUIDED BY ACTIVE VISION
	Sun, Feihu 1; Yu, Junzhi1 ; Zhao, Peng 1; Xu, De2
刊名	INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
	2016
卷号	31 期号:2 页码:137-145
关键词	Tracking control active vision stability control biomimetic robotic fish
英文摘要	This paper is concerned with control issue of active vision guided tracking for an agile robotic fish. A control method for guaranteeing the stability of the swinging head is proposed, which aims at steady image data acquisition. Then, a control framework with the properties of multiple stages is presented. The artificial landmark-based visual positioning and directional control implemented as a fuzzy logic controller are combined in this framework. Furthermore, reasonable control strategies are put forward to balance the kinematic performance and the tracking accuracy. Finally, tracking tests have been conducted on the autonomous robotic fish merely guided by embedded vision. The experimental results indicate the feasibility and reliability of the proposed methods.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems ; Robotics
研究领域[WOS]	Automation & Control Systems ; Robotics
关键词[WOS]	UNDERWATER VEHICLES ; LOCOMOTION ; ENHANCEMENT ; NAVIGATION
收录类别	SCI
语种	英语
WOS记录号	WOS:000376820000008
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/12228]
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 100864, Peoples R China 2.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100864, Peoples R China
推荐引用方式 GB/T 7714	Sun, Feihu,Yu, Junzhi,Zhao, Peng,et al. TRACKING CONTROL FOR A BIOMIMETIC ROBOTIC FISH GUIDED BY ACTIVE VISION[J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,2016,31(2):137-145.
APA	Sun, Feihu,Yu, Junzhi,Zhao, Peng,&Xu, De.(2016).TRACKING CONTROL FOR A BIOMIMETIC ROBOTIC FISH GUIDED BY ACTIVE VISION.INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,31(2),137-145.
MLA	Sun, Feihu,et al."TRACKING CONTROL FOR A BIOMIMETIC ROBOTIC FISH GUIDED BY ACTIVE VISION".INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION 31.2(2016):137-145.