A Novel Visual Sensor Stabilization Platform for Robotic Sharks Based on Improved LADRC and Digital Image Algorithm

doi:10.3390/s20144060

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

	A Novel Visual Sensor Stabilization Platform for Robotic Sharks Based on Improved LADRC and Digital Image Algorithm
	Pan, Jie 3; Zhang, Pengfei 1,2; Liu, Jincun 3; Yu, Junzhi 3
刊名	SENSORS
	2020-07-01
卷号	20 期号:14 页码:16
关键词	visual sensor stabilization platform improved LADRC digital technique robotic fish
DOI	10.3390/s20144060
通讯作者	Yu, Junzhi(yujunzhi@pku.edu.cn)
英文摘要	Autonomous underwater missions require the construction of a stable visual sensing system. However, acquiring continuous steady image sequences is a very challenging task for bionic robotic fish due to their tight internal space and the inherent periodic disturbance caused by the tail beating. To solve this problem, this paper proposes a modified stabilization strategy that combines mechanical devices and digital image techniques to enhance the visual sensor stability and resist periodic disturbance. More specifically, an improved window function-based linear active disturbance rejection control (LADRC) was utilized for mechanical stabilization. Furthermore, a rapid algorithm with inertial measurement units (IMUs) was implemented for digital stabilization. The experiments regarding mechanical stabilization, digital stabilization, and target recognition on the experimental platform for simulating fishlike oscillations demonstrated the effectiveness of the proposed methods. The success of these experiments provides valuable insight into the construction of underwater visual sensing systems and also establishes a solid foundation for the visual applications for robotic fish in dynamic aquatic environments.
资助项目	National Natural Science Foundation of China[U1909206] ; National Natural Science Foundation of China[61903007] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61633017] ; Pre-Research Fund of Equipment of China[61402070304] ; China Postdoctoral Science Foundation[2020M670044] ; Key Research and Development and Transformation Project of Qinghai Province[2017-GX-103]
WOS关键词	DISTURBANCE REJECTION CONTROL ; MOTION CONTROL ; SYSTEMS
WOS研究方向	Chemistry ; Engineering ; Instruments & Instrumentation
语种	英语
出版者	MDPI
WOS记录号	WOS:000556988000001
资助机构	National Natural Science Foundation of China ; Pre-Research Fund of Equipment of China ; China Postdoctoral Science Foundation ; Key Research and Development and Transformation Project of Qinghai Province
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/40340]
专题	自动化研究所_复杂系统管理与控制国家重点实验室
通讯作者	Yu, Junzhi
作者单位	1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Peking Univ, Coll Engn, BIC ESAT, Dept Mech & Engn Sci,State Key Lab Turbulence & C, Beijing 100871, Peoples R China
推荐引用方式 GB/T 7714	Pan, Jie,Zhang, Pengfei,Liu, Jincun,et al. A Novel Visual Sensor Stabilization Platform for Robotic Sharks Based on Improved LADRC and Digital Image Algorithm[J]. SENSORS,2020,20(14):16.
APA	Pan, Jie,Zhang, Pengfei,Liu, Jincun,&Yu, Junzhi.(2020).A Novel Visual Sensor Stabilization Platform for Robotic Sharks Based on Improved LADRC and Digital Image Algorithm.SENSORS,20(14),16.
MLA	Pan, Jie,et al."A Novel Visual Sensor Stabilization Platform for Robotic Sharks Based on Improved LADRC and Digital Image Algorithm".SENSORS 20.14(2020):16.