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Cooperative Target Tracking in Aquatic Environment Using Dual Robotic Dolphins

文献类型：期刊论文

作者Liu, Jincun1; Wu, Zhengxing2; Yu, Junzhi1,2; Xue, Zhibin3
刊名IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
出版日期2021-08-01
卷号51期号:8页码:4782-4792
ISSN号2168-2216
关键词Dolphins Robot kinematics Path planning Target tracking Turning Task analysis Behavior based biomimetic robotic dolphin cooperative target tracking rapidly exploring random tree (RRT)
DOI10.1109/TSMC.2019.2944753
通讯作者Yu, Junzhi(junzhi.yu@ia.ac.cn)
英文摘要This article proposes a modified rapidly exploring random tree (RRT)-based path planner and behavior-based cooperative tracking strategy for a dual robotic dolphin system to fulfill a cooperative target-tracking task. Specifically, with full consideration of both task requirements and mechatronic configuration, a robotic dolphin with a waist-caudal propulsive mechanism for thrust forces and differential bilateral flippers for maneuverability is developed. To satisfy the demand of fast path planning, a variant RRT algorithm is employed to generate feasible paths for the dual robotic dolphins with fewer waypoints, faster convergence speed, and better stability. Furthermore, a behavior-based approach in conjunction with centralized architecture is implemented to achieve high-level decision-making. Finally, simulations, analysis, as well as field experiments are carried out to verify the effectiveness of the proposed control scheme. The success of the experiments further offers insight into the mechanisms of cooperative multirobot target tracking in aquatic environments.
WOS关键词FISH
资助项目National Natural Science Foundation of China[61903007] ; National Natural Science Foundation of China[61633017] ; National Natural Science Foundation of China[61633004] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61973007] ; Pre-Research Fund of Equipment of China[61402070304] ; Key Research and Development and Transformation Project of Qinghai Province[2017-GX-103]
WOS研究方向Automation & Control Systems ; Computer Science
语种英语
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号WOS:000673624500016
资助机构National Natural Science Foundation of China ; Pre-Research Fund of Equipment of China ; Key Research and Development and Transformation Project of Qinghai Province
源URL[http://ir.ia.ac.cn/handle/173211/45520]  
专题复杂系统管理与控制国家重点实验室_水下机器人
自动化研究所_复杂系统管理与控制国家重点实验室
通讯作者Yu, Junzhi
作者单位1.Peking Univ, Dept Mech & Engn Sci, Coll Engn, BIC ESAT,State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
3.Qinghai Univ, Coll Chem Engn, Xining 810016, Peoples R China
推荐引用方式
GB/T 7714		 Liu, Jincun,Wu, Zhengxing,Yu, Junzhi,et al. Cooperative Target Tracking in Aquatic Environment Using Dual Robotic Dolphins[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2021,51(8):4782-4792.
APA Liu, Jincun,Wu, Zhengxing,Yu, Junzhi,&Xue, Zhibin.(2021).Cooperative Target Tracking in Aquatic Environment Using Dual Robotic Dolphins.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,51(8),4782-4792.
MLA Liu, Jincun,et al."Cooperative Target Tracking in Aquatic Environment Using Dual Robotic Dolphins".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 51.8(2021):4782-4792.

入库方式： OAI收割

来源：自动化研究所

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