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Vision-Based Autonomous Hovering for the Biomimetic Underwater Robot-RobCutt-II

文献类型：期刊论文

作者Wang, Rui1; Wang, Shuo1,2,3; Wang, Yu1; Cai, Mingxue1,2; Tan, Min1,2
刊名IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
出版日期2019-11-01
卷号66期号:11页码:8578-8588
关键词Autonomous hovering biomimetic underwater robot dual fins undulatory propulsion visual servoing
ISSN号0278-0046
DOI10.1109/TIE.2018.2886755
通讯作者Wang, Shuo(shuo.wang@ia.ac.cn) ; Wang, Yu(yu.wang@ia.ac.cn)
英文摘要This paper aims to investigate the method of autonomous hovering control for the biomimetic underwater robot named RobCutt-II. First, a modular configuration for mimicry of undulatory propulsion is presented, followed by a coordinated control of dual fins for enhancing the maneuverability and stability of the RobCutt-II. Then the vision-based hovering problem is formulated. A dual-loop hovering control framework integrating an image processing module, a tracking differentiator, a hovering controller, a velocity controller, and a fuzzy-based control allocation module is proposed to govern the locomotion of the RobCutt-II. Finally, simulations and experimental results demonstrate the effectiveness of the proposed mechanical design and control methods.
WOS关键词TRACKING CONTROL ; VEHICLE ; DESIGN ; MOTION
资助项目National Key Research and Development Program of China[2017YFB1300103] ; National Natural Science Foundation of China[U1713222]
WOS研究方向Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种英语
WOS记录号WOS:000474570200027
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Key Research and Development Program of China ; National Natural Science Foundation of China
源URL[http://ir.ia.ac.cn/handle/173211/26837]  
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Wang, Shuo; Wang, Yu
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
3.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai 200031, Peoples R China
推荐引用方式
GB/T 7714		 Wang, Rui,Wang, Shuo,Wang, Yu,et al. Vision-Based Autonomous Hovering for the Biomimetic Underwater Robot-RobCutt-II[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2019,66(11):8578-8588.
APA Wang, Rui,Wang, Shuo,Wang, Yu,Cai, Mingxue,&Tan, Min.(2019).Vision-Based Autonomous Hovering for the Biomimetic Underwater Robot-RobCutt-II.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,66(11),8578-8588.
MLA Wang, Rui,et al."Vision-Based Autonomous Hovering for the Biomimetic Underwater Robot-RobCutt-II".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 66.11(2019):8578-8588.

入库方式： OAI收割

来源：自动化研究所

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