TRACKING CONTROL FOR A BIOMIMETIC ROBOTIC FISH GUIDED BY ACTIVE VISION
文献类型：期刊论文
| 作者 | Sun, Feihu1; Yu, Junzhi1 ; Zhao, Peng1; Xu, De2
|
| 刊名 | INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
 |
| 出版日期 | 2016 |
| 卷号 | 31期号:2页码:137-145 |
| 关键词 | Tracking control active vision stability control biomimetic robotic fish |
| 英文摘要 | This paper is concerned with control issue of active vision guided tracking for an agile robotic fish. A control method for guaranteeing the stability of the swinging head is proposed, which aims at steady image data acquisition. Then, a control framework with the properties of multiple stages is presented. The artificial landmark-based visual positioning and directional control implemented as a fuzzy logic controller are combined in this framework. Furthermore, reasonable control strategies are put forward to balance the kinematic performance and the tracking accuracy. Finally, tracking tests have been conducted on the autonomous robotic fish merely guided by embedded vision. The experimental results indicate the feasibility and reliability of the proposed methods. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Robotics |
| 研究领域[WOS] | Automation & Control Systems ; Robotics |
| 关键词[WOS] | UNDERWATER VEHICLES ; LOCOMOTION ; ENHANCEMENT ; NAVIGATION |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000376820000008 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/12228]  |
| 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 100864, Peoples R China 2.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100864, Peoples R China |
| 推荐引用方式 GB/T 7714 | Sun, Feihu,Yu, Junzhi,Zhao, Peng,et al. TRACKING CONTROL FOR A BIOMIMETIC ROBOTIC FISH GUIDED BY ACTIVE VISION[J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,2016,31(2):137-145. |
| APA | Sun, Feihu,Yu, Junzhi,Zhao, Peng,&Xu, De.(2016).TRACKING CONTROL FOR A BIOMIMETIC ROBOTIC FISH GUIDED BY ACTIVE VISION.INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,31(2),137-145. |
| MLA | Sun, Feihu,et al."TRACKING CONTROL FOR A BIOMIMETIC ROBOTIC FISH GUIDED BY ACTIVE VISION".INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION 31.2(2016):137-145. |
入库方式： OAI收割
来源：自动化研究所
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