Underwater target search with robotic fish based on an improved Camshift algorithm
文献类型：会议论文
| 作者 | Chen Shifeng; Yu Junzhi ; Sun Feihu; Tan Min
|
| 出版日期 | 2014 |
| 会议名称 | Chinese Automation Congress |
| 会议日期 | 2013 |
| 会议地点 | Changsha, China |
| 关键词 | biomimetic robotic fish underwater search improved Camshift algorithm mirror image interference |
| 通讯作者 | Chen Shifeng |
| 英文摘要 | Biomimetic robotic fish has the distinct advantage of efficient propulsion and high maneuverability over conventional underwater vehicles. This paper addresses the underwater target search issue in a free-swimming robotic fish with embedded vision. In particular, we use the stored original image to acquire the color characteristics of the target and propose an improved Camshift algorithm based on the light intensity distribution to search the target in the captured image. Then the robotic fish is driven towards the identified target smoothly with the aid of bio-inspired Central Pattern Generator (CPG) control. All tracking algorithms are implemented in real time with a hybrid control system combining an embedded microprocessor (TI DM3730) and a microcontroller (ATmega128). Latest aquatic experiments demonstrate that a fairly good tracking effect is resulted and the interference caused by the mirror image effect is largely eliminated. The proposed technical scheme offers an alternative to target search in relatively complex underwater environments. |
| 会议录 | 2013 Chinese Automation Congress, CAC 2013
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13051]  |
| 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 | Chen Shifeng,Yu Junzhi,Sun Feihu,et al. Underwater target search with robotic fish based on an improved Camshift algorithm[C]. 见:Chinese Automation Congress. Changsha, China. 2013. |
入库方式： OAI收割
来源：自动化研究所
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