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Design and Vision Based Autonomous Capture of Sea Organism With Absorptive Type Remotely Operated Vehicle

文献类型：期刊论文

作者Li Ji-Yong1; Zhou Hao1; Huang Hai1; Yang Xu2; Wan Zhaoliang1; Wan Lei1
刊名IEEE ACCESS
出版日期2018
卷号6页码:73871-73884
关键词Remotely operated vehicle vision servo control target recognition
ISSN号2169-3536
DOI10.1109/ACCESS.2018.2880413
通讯作者Huang Hai(haihus@163.com)
英文摘要Robot machine capture protein seafood like sea cucumber and seashell is expected to play a great role in food economy improvement and divers protection. In order to realize robot capture, a sea organism absorptive type remotely operated vehicle (ROV) has been designed with the pilot operation and vision-based autonomous capture modes. A novel region-based fully convolutional network with deformable convolutional networks has been developed to realize organism target recognition. The comparisons in offline experiments have verified its advantages. In order to realize organism target following and capture control, a novel learning-based type-II fuzzy controller has been developed. Through online fuzzy rule optimization and learning, the controller can realize organism target following and capture control under image coordinate without vehicle horizontal velocity or position information in the complicated submarine environment. Field trials have been made in the Zhangzidao Island of China with the designed absorptive type ROV. The trials manifest that the designed absorptive type ROV can realize online organism target recognition, following and capture in the real submarine environment.
WOS关键词UNDERWATER ; MANIPULATION ; TRACKING ; ROBOTS ; NAVIGATION
资助项目National Natural Science Foundation of China[61633009] ; National Natural Science Foundation of China[51579053] ; National Natural Science Foundation of China[5129050] ; National Natural Science Foundation of China[51779052] ; National Natural Science Foundation of China[51779059] ; Key Basic Research Project of Shanghai Science and Technology Innovation Plan[15JC1403300] ; Field Fund of the 13th Five-Year Plan for the Equipment Pre-Research Fund[61403120301]
WOS研究方向Computer Science ; Engineering ; Telecommunications
语种英语
WOS记录号WOS:000454366000001
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Natural Science Foundation of China ; Key Basic Research Project of Shanghai Science and Technology Innovation Plan ; Field Fund of the 13th Five-Year Plan for the Equipment Pre-Research Fund
源URL[http://ir.ia.ac.cn/handle/173211/25647]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组
通讯作者Huang Hai
作者单位1.Harbin Engn Univ, Natl Key Lab Sci & Technol Underwater Vehicle, Harbin 150001, Heilongjiang, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Li Ji-Yong,Zhou Hao,Huang Hai,et al. Design and Vision Based Autonomous Capture of Sea Organism With Absorptive Type Remotely Operated Vehicle[J]. IEEE ACCESS,2018,6:73871-73884.
APA Li Ji-Yong,Zhou Hao,Huang Hai,Yang Xu,Wan Zhaoliang,&Wan Lei.(2018).Design and Vision Based Autonomous Capture of Sea Organism With Absorptive Type Remotely Operated Vehicle.IEEE ACCESS,6,73871-73884.
MLA Li Ji-Yong,et al."Design and Vision Based Autonomous Capture of Sea Organism With Absorptive Type Remotely Operated Vehicle".IEEE ACCESS 6(2018):73871-73884.

入库方式： OAI收割

来源：自动化研究所

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