Target tracking of robotic fish based on embedded vision and CPG model

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

	Target tracking of robotic fish based on embedded vision and CPG model
	Feihu Sun; Junzhi Yu; De Xu
	2013
会议名称	2013 IEEE International Conference on Information and Automation, ICIA 2013
会议日期	August 26, 2013 - August 28, 2013
会议地点	Yinchuan, China
通讯作者	Feihu Sun
英文摘要	There has been greatly increased interest in using embedded vision for aquatic environments. This paper presents a robust target tracking method for a free-swimming biomimetic robotic fish by means of embedded vision and central pattern generator (CPG)-based motion control. Specifically, an algorithm called automatic continuous adaptive mean shift (Auto-CAMSHIFT) is firstly proposed to obtain the position and size of the interested target. Then a fuzzy logic controller is developed to generate the control input closely related to the desired target. A CPG controller that is robust against small and unexpected disturbance, at the same time, is employed to produce coordinated signals for multiple moving joints of the robotic fish. Finally, aquatic testing results verify the effectiveness of the proposed methods and show a satisfactory performance.
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/13046]
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
推荐引用方式 GB/T 7714	Feihu Sun,Junzhi Yu,De Xu. Target tracking of robotic fish based on embedded vision and CPG model[C]. 见:2013 IEEE International Conference on Information and Automation, ICIA 2013. Yinchuan, China. August 26, 2013 - August 28, 2013.