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Coordination of Multiple Robotic Fish With Applications to Underwater Robot Competition
文献类型：期刊论文
| 作者 | Yu JZ(喻俊志); Wang C(王晨); Xie GM(谢广明) |
| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
 |
| 出版日期 | 2016 |
| 卷号 | 63期号:2页码:1280-1288 |
| 关键词 | Coordination control multirobot system robotic fish underwater robot competition |
| ISSN号 | 0278-0046 |
| 产权排序 | 1 |
| 通讯作者 | 喻俊志 |
| 中文摘要 | 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. |
| 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] | LOCOMOTION CONTROL ; FUZZY CONTROLLER ; OSCILLATORS ; SYSTEMS ; DESIGN |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000369990300057 |
| 源URL | [http://ir.sia.cn/handle/173321/17710]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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