Target tracking of robotic fish based on embedded vision and CPG model
文献类型：会议论文
| 作者 | Feihu Sun; Junzhi Yu ; De Xu
|
| 出版日期 | 2013 |
| 会议名称 | 2013 IEEE International Conference on Information and Automation, ICIA 2013 |
| 会议日期 | August 26, 2013 - August 28, 2013 |
| 会议地点 | Yinchuan, China |
| 通讯作者 | Feihu Sun |
| 英文摘要 | There has been greatly increased interest in using embedded vision for aquatic environments. This paper presents a robust target tracking method for a free-swimming biomimetic robotic fish by means of embedded vision and central pattern generator (CPG)-based motion control. Specifically, an algorithm called automatic continuous adaptive mean shift (Auto-CAMSHIFT) is firstly proposed to obtain the position and size of the interested target. Then a fuzzy logic controller is developed to generate the control input closely related to the desired target. A CPG controller that is robust against small and unexpected disturbance, at the same time, is employed to produce coordinated signals for multiple moving joints of the robotic fish. Finally, aquatic testing results verify the effectiveness of the proposed methods and show a satisfactory performance. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13046]  |
| 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 |
| 推荐引用方式 GB/T 7714 | Feihu Sun,Junzhi Yu,De Xu. Target tracking of robotic fish based on embedded vision and CPG model[C]. 见:2013 IEEE International Conference on Information and Automation, ICIA 2013. Yinchuan, China. August 26, 2013 - August 28, 2013. |
入库方式： OAI收割
来源：自动化研究所
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