Embedded Vision-Guided 3-D Tracking Control for Robotic Fish
文献类型：期刊论文
| 作者 | Yu, Junzhi1,2 ; Sun, Feihu1; Xu, De3; Tan, Min1
|
| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
 |
| 出版日期 | 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 |
| 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. |
入库方式： OAI收割
来源：自动化研究所
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