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Intelligent Target Visual Tracking and Control Strategy for Open Frame Underwater Vehicles

文献类型：期刊论文

作者Sun, Chaoyu1; Wan, Zhaoliang2; Huang, Hai2; Zhang, Guocheng2; Bao, Xuan2; Li, Jiyong2; Sheng, Mingwei2; Yang, Xu3
刊名ROBOTICA
出版日期2021-10-01
卷号39期号:10页码:1791-1805
关键词Remotely autonomous underwater vehicle Kernelized correlation filter tracking Learning based fuzzy controller
ISSN号0263-5747
DOI10.1017/S0263574720001502
通讯作者Huang, Hai(haihus@163.com)
英文摘要Visual tracking is an essential building block for target tracking and capture of the underwater vehicles. On the basis of remotely autonomous control architecture, this paper has proposed an improved kernelized correlation filter (KCF) tracker and a novel fuzzy controller. The model is trained to learn an online correlation filter from a plenty of positive and negative training samples. In order to overcome the influence from occlusion, the improved KCF tracker has been designed with an added self-discrimination mechanism based on system confidence uncertainty. The novel fuzzy logic tracking controller can automatically generate and optimize fuzzy rules. Through Q-learning algorithm, the fuzzy rules are acquired through the estimating value of each state action pairs. An S surface based fitness function has been designed for the improvement of learning based particle swarm optimization. Tank and channel experiments have been carried out to verify the proposed tracker and controller through pipe tracking and target grasp on the basis of designed open frame underwater vehicle.
WOS关键词PATH-FOLLOWING CONTROL ; TRAJECTORY-TRACKING ; DESIGN
资助项目National Nature Science Foundation of China[61633009] ; National Nature Science Foundation of China[51579053] ; National Nature Science Foundation of China[51209050] ; National Nature Science Foundation of China[51639004] ; National Nature Science Foundation of China[61603277] ; National Nature Science Foundation of China[51779052] ; National Nature Science Foundation of China[51779059] ; Key Basic Research Project of ShanghaiScience and Technology Innovation Plan[15JC1403300] ; Community Technology of the 13th Five-Year Plan for Equipment Pre-research Fund[41412050101] ; Field Fund of the 13th Five-Year Plan for Equipment Pre-research Fund[61403120301]
WOS研究方向Robotics
语种英语
WOS记录号WOS:000693681400007
出版者CAMBRIDGE UNIV PRESS
资助机构National Nature Science Foundation of China ; Key Basic Research Project of ShanghaiScience and Technology Innovation Plan ; Community Technology of the 13th Five-Year Plan for Equipment Pre-research Fund ; Field Fund of the 13th Five-Year Plan for Equipment Pre-research Fund
源URL[http://ir.ia.ac.cn/handle/173211/45950]  
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.Hosp Harbin Med Univ, Harbin 150026, Peoples R China
2.Harbin Engn Univ, Natl Key Lab Sci & Technol Underwater Vehicle, Harbin 150001, Peoples R China
3.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		 Sun, Chaoyu,Wan, Zhaoliang,Huang, Hai,et al. Intelligent Target Visual Tracking and Control Strategy for Open Frame Underwater Vehicles[J]. ROBOTICA,2021,39(10):1791-1805.
APA Sun, Chaoyu.,Wan, Zhaoliang.,Huang, Hai.,Zhang, Guocheng.,Bao, Xuan.,...&Yang, Xu.(2021).Intelligent Target Visual Tracking and Control Strategy for Open Frame Underwater Vehicles.ROBOTICA,39(10),1791-1805.
MLA Sun, Chaoyu,et al."Intelligent Target Visual Tracking and Control Strategy for Open Frame Underwater Vehicles".ROBOTICA 39.10(2021):1791-1805.

入库方式： OAI收割

来源：自动化研究所

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