Coordination of Multiple Robotic Fish With Applications to Underwater Robot Competition
文献类型：期刊论文
| 作者 | Yu, Junzhi 1; Wang, Chen 3; Xie, Guangming 3; Yu, Junzhi ; Wang, Chen
|
| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
 |
| 出版日期 | 2016-02-01 |
| 卷号 | 63期号:2页码:1280-1288 |
| 关键词 | Coordination control multirobot system robotic fish underwater robot competition |
| 通讯作者 | Yu, Junzhi |
| 英文摘要 | 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 toaccomplish 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 underwaterrobot 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 |
| 语种 | 英语 |
| WOS记录号 | WOS:000369990300057 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/11340]  |
| 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 |
| 通讯作者 | Yu, Junzhi |
| 作者单位 | 1. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China 2. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 3. Intelligent Control Laboratory, College of Engineering, Peking University, Beijing, China |
| 推荐引用方式 GB/T 7714 | Yu, Junzhi ,Wang, Chen ,Xie, Guangming ,et al. Coordination of Multiple Robotic Fish With Applications to Underwater Robot Competition[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2016,63(2):1280-1288. |
| APA | Yu, Junzhi ,Wang, Chen ,Xie, Guangming ,Yu, Junzhi,&Wang, Chen.(2016).Coordination of Multiple Robotic Fish With Applications to Underwater Robot Competition.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,63(2),1280-1288. |
| MLA | Yu, Junzhi ,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：自动化研究所
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